Picking by Tilting: In-Hand Manipulation for Object Picking using Effector with Curved Form
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866917847726292992 |
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| author | Song, Yanshu Nazir, Abdullah Lau, Darwin Liu, Yun Hui |
| author_facet | Song, Yanshu Nazir, Abdullah Lau, Darwin Liu, Yun Hui |
| contents | This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat support surfaces. First, the object is tilted up while being held between the end-effector and the supports. Then, the end-effector is tucked into the gap underneath the object, which is formed by tilting, in order to obtain a grasp against gravity. In this paper, we first examine the mechanics of tilting to understand the different ways in which the object can be initially tilted. We then present a strategy to tilt up the object in a secure manner. Finally, we demonstrate successful picking of objects of various size and geometry using our technique through a set of experiments performed with a custom-made robotic device and a conventional robot arm. Our experiment results show that object picking can be performed reliably with our method using simple hardware and control, and when possible, with appropriate fixture design. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_16055 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Picking by Tilting: In-Hand Manipulation for Object Picking using Effector with Curved Form Song, Yanshu Nazir, Abdullah Lau, Darwin Liu, Yun Hui Robotics This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat support surfaces. First, the object is tilted up while being held between the end-effector and the supports. Then, the end-effector is tucked into the gap underneath the object, which is formed by tilting, in order to obtain a grasp against gravity. In this paper, we first examine the mechanics of tilting to understand the different ways in which the object can be initially tilted. We then present a strategy to tilt up the object in a secure manner. Finally, we demonstrate successful picking of objects of various size and geometry using our technique through a set of experiments performed with a custom-made robotic device and a conventional robot arm. Our experiment results show that object picking can be performed reliably with our method using simple hardware and control, and when possible, with appropriate fixture design. |
| title | Picking by Tilting: In-Hand Manipulation for Object Picking using Effector with Curved Form |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.16055 |