Grasp synthesis for purposeful fracturing of object
作者： Mahyar Abdeetedal , Mehrdad R. Kermani
DOI: 10.1016/J.ROBOT.2018.03.003
关键词:
摘要: Abstract This paper deals with the problem of purposefully failing (breaking) or yielding objects by a robotic gripper. Robotic harvesting is considered as an application domain that motivates this study. A definition failure task first formulated using theories. Next, grasp quality measure presented to characterize suitable configuration and systematically control behavior object. approach combines capability gripper for wrench insertion. The friction between object used formulate new method inspired human pre-manipulation process introduced utilize itself measurement tool obtain model. developed model capable capturing anisotropic materials which case most fruits vegetables. evaluation proposed in study quasistatic can include both fully-actuated under-actuated grippers. breaking validated experimental results. Objects different material properties are prove generality method. KUKA LightWeight Robot IV manipulator.
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