Taxonomy and Modular Tool System for Versatile and Effective Non-Prehensile Manipulations
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
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2025
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| author | Sommer, Cedric-Pascal Wood, Robert J. Werfel, Justin |
| author_facet | Sommer, Cedric-Pascal Wood, Robert J. Werfel, Justin |
| contents | General-purpose robotic end-effectors of limited complexity, like the parallel-jaw gripper, are appealing for their balance of simplicity and effectiveness in a wide range of manipulation tasks. However, while many such manipulators offer versatility in grasp-like interactions, they are not optimized for non-prehensile actions like pressing, rubbing, or scraping -- manipulations needed for many common tasks. To perform such tasks, humans use a range of different body parts or tools with different rigidity, friction, etc., according to the properties most effective for a given task. Here, we discuss a taxonomy for the key properties of a non-actuated end-effector, laying the groundwork for a systematic understanding of the affordances of non-prehensile manipulators. We then present a modular tool system, based on the taxonomy, that can be used by a standard two-fingered gripper to extend its versatility and effectiveness in performing such actions. We demonstrate the application of the tool system in aerospace and household scenarios that require a range of non-prehensile and prehensile manipulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_11080 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Taxonomy and Modular Tool System for Versatile and Effective Non-Prehensile Manipulations Sommer, Cedric-Pascal Wood, Robert J. Werfel, Justin Robotics I.2.9 General-purpose robotic end-effectors of limited complexity, like the parallel-jaw gripper, are appealing for their balance of simplicity and effectiveness in a wide range of manipulation tasks. However, while many such manipulators offer versatility in grasp-like interactions, they are not optimized for non-prehensile actions like pressing, rubbing, or scraping -- manipulations needed for many common tasks. To perform such tasks, humans use a range of different body parts or tools with different rigidity, friction, etc., according to the properties most effective for a given task. Here, we discuss a taxonomy for the key properties of a non-actuated end-effector, laying the groundwork for a systematic understanding of the affordances of non-prehensile manipulators. We then present a modular tool system, based on the taxonomy, that can be used by a standard two-fingered gripper to extend its versatility and effectiveness in performing such actions. We demonstrate the application of the tool system in aerospace and household scenarios that require a range of non-prehensile and prehensile manipulations. |
| title | Taxonomy and Modular Tool System for Versatile and Effective Non-Prehensile Manipulations |
| topic | Robotics I.2.9 |
| url | https://arxiv.org/abs/2512.11080 |