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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    Title :

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


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

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


    Published in:

    Robotics Research ; Chapter : 17 ; 252-267


    Publication date :

    2023-03-08


    Size :

    16 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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