ModLab UPenn the modular robotics laboratory at the university of pennsylvania
Manipulation
Robotic Edge-Rolling Manipulation: A Grasp Planning Approach
We present a novel robotic manipulation technique that we call robotic edge rolling. It refers to transporting a cylindrical object by rolling on its circular edge, as human workers might maneuver a gas cylinder on the ground.
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 […]
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University of Pennsylvania | Mechanical Engineering and Applied Mechanics
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