Push Grasping with Humanoid Hands

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.