2024
Evaluating a Movable Palm in Caging Inspired Grasping using a Reinforcement Learning-based Approach
IROS 2024
In this paper, we study the effectiveness of using a rigid movable palm for grasping varied objects, on a caging inspired gripper with three flexible fingers. This rigid palm extends to actively exert downwards force on objects, in contrast with existing methods, which combine movable palms with neg