ModLab UPenn the modular robotics laboratory at the university of pennsylvania

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Object Picking through In-Hand Manipulation using Passive End-Effectors with Zero Mobility
Object Picking through In-Hand Manipulation using Passive End-Effectors with Zero Mobility

We present a new method for picking objects through quasistatic in-hand manipulation with endeffectors that have no degrees of freedom. Our stable manipulation/ grasp planning is achieved with two contacts at fixed distance and the force of gravity, and is provably complete and correct. Practically, our robotic in-hand manipulation technique can facilitate low-cost manipulation and […]