Blind Bin Picking of Small Screws Through In-finger Manipulation With Compliant Robotic Fingers
Matthew Ishige,Takuya Umedachi,Yoshihisa Ijiri,Tadahiro Taniguchi,Yoshihiro Kawahara,Matthew Ishige,Takuya Umedachi,Yoshihisa Ijiri,Tadahiro Taniguchi,Yoshihiro Kawahara
Although picking up objects a few centimeters in size is a common task, achieving such ability in a robot manipulator remains challenging. We take a step toward solving this problem by focusing on the task of picking a 1.0-cm screw from a bulk bin using only tactile information to achieve the task. Inspired by how humans pick up small objects from a bin, we propose a "grasp-separate" strategy for ...
