Project: In-hand Manipulation
We are interested in the broad problem of grasping an object or tool into a functional grasp. In particular, we have considered the problem of adapting the grasp on an object by pushing it against the environment, i.e. prehensile pushing. We have developed a sampling-based planning framework to regrasp objects through a sequence of pushes. We get increased reliability and planning speed by restricting to interactions where at least one contact is sticking to the object at all times, i.e. stable prehensile pushing.
Contact: Nikhil Chavan-Dafle
Related Publications
Related Patents
Related Videos