Push Grasping with Humanoid Hands
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Authors
Dessalene, Eadom
Korpela, Christopher M.
Lofaro, Daniel
Issue Date
2018-06
Type
proceedings-article
Language
Keywords
Grasping , Manipulators , Trajectory , Grippers , Uncertainty , Shape
Alternative Title
Abstract
This paper contributes to the work of push-grasping by producing data-driven models on the effects of the chosen angle of approach for anthropomorphic hands. An overview of previous work on robotic grasping is first presented. Thousands of trials of push grasping experiments are then compared between rigid angled funnel configurations coupled with a Baxter Electric Gripper end effector and the anthropomorphic, 16 DOF Allegro Hand end effector, each at different approach angles of approach. Geometrical capture regions for each set of trials are gathered. Push grasping is then applied to the realm of ground vehicles by coupling a mobile manipulator robot with the Allegro Hand, gathering the capture region as the body of the mobile manipulator rotates in place.
Description
Citation
E. Dessalene, C. Korpela and D. Lofaro, "Push Grasping with Humanoid Hands," 2018 15th International Conference on Ubiquitous Robots (UR), Honolulu, HI, USA, 2018, pp. 737-742, doi: 10.1109/URAI.2018.8441829.
Publisher
IEEE