Prehensile pushing: In-hand manipulation with push-primitives

Nikhil Chavan-Dafle; Alberto Rodriguez

IROS 2015poster140 citations

Prehensile pushing: In-hand manipulation with push-primitives

Abstract

This paper explores the manipulation of a grasped object by pushing it against its environment. Relying on precise arm motions and detailed models of frictional contact, prehensile pushing enables dexterous manipulation with simple manipulators, such as those currently available in industrial settings, and those likely affordable by service and field robots.

BibTeX

@inproceedings{iros2015_prehensilepushin,
  title = {Prehensile pushing: In-hand manipulation with push-primitives},
  author = {Nikhil Chavan-Dafle and Alberto Rodriguez},
  booktitle = {IROS 2015},
  year = {2015}
}