Task-Driven Perception and Manipulation for Constrained Placement of Unknown Objects
نویسندگان
چکیده
منابع مشابه
Towards Unknown Objects Manipulation
We propose a simple but efficient control strategy to manipulate objects of unknown shape, weight, and friction properties – prerequisites which are necessary for classical offline grasping and manipulation methods. Instead, the proposed control strategy employs estimated contact point locations, which can be obtained from modern tactile sensors with good spatial resolution. The feasibility of ...
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In order to realize in-hand manipulation of unknown objects, we introduce an extension to our previously developed manipulation framework, such that long manipulation sequences, involving finger regrasping, become feasible. To this end, we propose a novel feedback controller, which searches for locally optimal contact points (suitable for regrasping), employing an online exploration process on ...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2020
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2020.3006816