Grasping of objects is not always feasible for robot manipulators, e.g., due to their geometric properties. Non-prehensile manipulation strategies can enable manipulators to successfully move these objects around. We analyze human-inspired gripper configurations for pushing small or heavy objects and propose closed-loop pushing strategies based on force-torque measurements as well as open-loop strategies to push small objects. In a thorough evaluation on a KUKA LWR4+ manipulator arm and in simulation, we discuss the effects of the different designs and strategies.


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    Title :

    Human-Inspired Non-prehensile Manipulation Strategies: Design, Implementation, and Evaluation


    Additional title:

    SN COMPUT. SCI.


    Contributors:

    Published in:

    Publication date :

    2023-12-07




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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