ChiatPin Tay

A Minimal Collision Strategy of Synergy Between Pushing and Grasping for Large Clusters of Objects

Grasping and moving objects in a large cluster is a common real scenario. In such scenarios, tens of objects are adjacent to each other, even stacked layer by layer, so that simple grasp would not work due to obstruction. In this paper, we propose a well-designed strategy to use synergy of pushing a…