Place-and-pick-based re-grasping is an in-hand object manipulation strategy designed for a simple gripper. In this paper, we address the problem of place-and-pick-based re-grasping on objects without stable intermediate placements. We propose a modified place-and-pick-based strategy by using unstable placements as intermediate placements for re-grasping. The robot can place the object in an unstable pose where the gripper can re-grasp the object while using the fingertips to constrain the object from moving. We demonstrate the experimental validity of the proposed re-grasping strategy in both simulation and the real world.


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    Titel :

    Place-and-Pick-Based Re-grasping Using Unstable Placement


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Billard, Aude (Herausgeber:in) / Asfour, Tamim (Herausgeber:in) / Khatib, Oussama (Herausgeber:in) / Hu, Jiaming (Autor:in) / Adeleye, Akanimoh (Autor:in) / Christensen, Henrik I. (Autor:in)

    Kongress:

    The International Symposium of Robotics Research ; 2022 ; Geneva, Switzerland September 25, 2022 - September 30, 2022


    Erschienen in:

    Robotics Research ; Kapitel : 17 ; 252-267


    Erscheinungsdatum :

    08.03.2023


    Format / Umfang :

    16 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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