Through-Hole Detection and Finger Insertion Planning as Preceding Motion for Hooking and Caging a Ring-Shaped Objects

This study investigated a pregrasp strategy for hooking and caging ring-shaped objects. Through-hole features enable the robot hand to hook an object with holes by inserting its finger into one of the holes. Compared to directly grasping the ring, an inserting motion is more convenient to allow the...

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Veröffentlicht in:	Journal of robotics and mechatronics 2023-06, Vol.35 (3), p.734-742
Hauptverfasser:	Makihara, Koshi, Otsubo, Takuya, Makita, Satoshi
Format:	Artikel
Sprache:	eng
Schlagworte:	End effectors Fingers Formability Hands Insertion Motion planning Object recognition Planning Robotics Robots
Online-Zugang:	Volltext
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