Title :
Prehensile pushing: In-hand manipulation with push-primitives
Author :
Nikhil Chavan-Dafle;Alberto Rodriguez
Author_Institution :
Department of Mechanical Engineering - Massachusetts Institute of Technology, USA
Abstract :
This paper explores the manipulation of a grasped object by pushing it against its environment. Relying on precise arm motions and detailed models of frictional contact, prehensile pushing enables dexterous manipulation with simple manipulators, such as those currently available in industrial settings, and those likely affordable by service and field robots.
Keywords :
"Force","Grippers","Acceleration","Robots","Computational modeling","Friction","Geometry"
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
DOI :
10.1109/IROS.2015.7354264
