• DocumentCode
    3709965
  • 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
  • fYear
    2015
  • Firstpage
    6215
  • Lastpage
    6222
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
  • Type

    conf

  • DOI
    10.1109/IROS.2015.7354264
  • Filename
    7354264
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3709965