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 / Bertoncelli, Filippo; Ruggiero, Fabio; Sabattini, Lorenzo. - (2021), pp. 38-46. (Intervento presentato al convegno 2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS) tenutosi a Cambridge, United Kingdom) [10.1109/MRS50823.2021.9620678].
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.File | Dimensione | Formato | |
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