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.
Place-and-Pick-Based Re-grasping Using Unstable Placement
Springer Proceedings in Advanced Robotics
The International Symposium of Robotics Research ; 2022 ; Geneva, Switzerland September 25, 2022 - September 30, 2022
2023-03-08
16 pages
Article/Chapter (Book)
Electronic Resource
English
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