1A1-I01 Object Arrangement Mode for Object Picking(Robot Hand Mechanism and Grasping Strategy)
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)2011Vol. 2011(0), pp. _1A1–I01_1
Abstract
This paper presents an object arrangement model and grasp strategy for object picking. Daily life objects are usually surrounded by other objects. The nearby objects around a target are obstacles to object picking. Therefore, differing grasp strategies are needed depending on the object arrangement. In this paper, we classify object arrangement pattern based on which target surfaces can be accessed by a finger. And we discuss applicable grasp strategies for picking up the arranged object.
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