Design and Implementation of Non-prehensile Manipulation Strategies

Pooja Bhat, Matthias Nieuwenhuisen, Dirk Schulz

2022

Abstract

Grasping of objects is not always feasible for robot manipulators, e.g., due to their geometric properties. Non-prehensile manipulation strategies can enable manipulators to successfully move these objects around. We discuss strategies for non-prehensile manipulation and focus on the investigation of such manipulation strategies based on open- and closed-loop control based on force torque measurements. The design of grippers for moving objects is also an important factor that is evaluated. The strategies are implemented and evaluated in simulation and on a KUKA LWR4+ manipulator arm.

Paper Citation

in Harvard Style

Bhat P., Nieuwenhuisen M. and Schulz D. (2022). Design and Implementation of Non-prehensile Manipulation Strategies. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 67-78. DOI: 10.5220/0011320700003271

in Bibtex Style

@conference{icinco22,
author={Pooja Bhat and Matthias Nieuwenhuisen and Dirk Schulz},
title={Design and Implementation of Non-prehensile Manipulation Strategies},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={67-78},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011320700003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Design and Implementation of Non-prehensile Manipulation Strategies
SN - 978-989-758-585-2
AU - Bhat P.
AU - Nieuwenhuisen M.
AU - Schulz D.
PY - 2022
SP - 67
EP - 78
DO - 10.5220/0011320700003271