This paper considers the problem of characterizing the quality of a contact configuration with respect to a planar pushing manipulation task, which represents a common non-prehensile manipulation primitive. In particular, a series of indices are proposed as a suitable characterization and are evaluated against metrics expressing both the energy efficiency and efficacy of a manipulation task. Furthermore, the selection of the optimal configuration for a given task is presented as a case study to show possible applications of the proposed characterization. To the best of the authors' knowledge, the proposed procedure represents the first attempt to characterize the quality of a grasp configuration for the non prehensile pushing task.

Characterization of Grasp Configurations for Multi-Robot Object Pushing

Ruggiero, Fabio;
2021

Abstract

This paper considers the problem of characterizing the quality of a contact configuration with respect to a planar pushing manipulation task, which represents a common non-prehensile manipulation primitive. In particular, a series of indices are proposed as a suitable characterization and are evaluated against metrics expressing both the energy efficiency and efficacy of a manipulation task. Furthermore, the selection of the optimal configuration for a given task is presented as a case study to show possible applications of the proposed characterization. To the best of the authors' knowledge, the proposed procedure represents the first attempt to characterize the quality of a grasp configuration for the non prehensile pushing task.
978-1-6654-2926-9
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/866283
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