Picking Thin Objects by Tilt-and-Pivot Manipulation and Its Application to Bin Picking
Zhekai Tong,Tierui He,Chung Hee Kim,Yu Hin Ng,Qianyi Xu,Jungwon Seo,Zhekai Tong,Tierui He,Chung Hee Kim,Yu Hin Ng,Qianyi Xu,Jungwon Seo
This paper introduces the technique of tilt-and-pivot manipulation, a new method for picking thin, rigid objects lying on a flat surface through robotic dexterous in-hand manipulation. During the manipulation process, the gripper is controlled to reorient about the contact with the object such that its finger can get in the space between the object and the supporting surface, which is formed by ti...
