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dc.contributor.authorChavan Dafle, Nikhil Narsingh
dc.contributor.authorRodriguez Garcia, Alberto
dc.date.accessioned2020-11-24T16:15:55Z
dc.date.available2020-11-24T16:15:55Z
dc.date.issued2018-12
dc.date.submitted2018-08
dc.identifier.isbn9781538635933
dc.identifier.issn2161-8089
dc.identifier.urihttps://hdl.handle.net/1721.1/128620
dc.description.abstractThis paper presents a fixturing strategy for re-grasping that does not require a physical fixture. To regrasp an object in a gripper, a robot pushes the object against external contact/s in the environment such that the external contact keeps the object stationary while the fingers slide over the object. We call this manipulation technique fixtureless fixturing. Exploiting the mechanics of pushing, we characterize a convex polyhedral set of pushes that results in fixtureless fixturing. These pushes are robust against uncertainty in the object inertia, grasping force, and the friction at the contacts. We propose a sampling-based planner that uses the sets of robust pushes to rapidly build a tree of reachable grasps. A path in this tree is a pushing strategy, possibly involving pushes from different sides, to regrasp the object. We demonstrate the experimental validity and robustness of the proposed manipulation technique with different regrasp examples on a manipulation platform. Such fast and flexible regrasp planner facilitates versatile and flexible automation solutions.en_US
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/coase.2018.8560381en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourcearXiven_US
dc.titleRegrasping by Fixtureless Fixturingen_US
dc.typeArticleen_US
dc.identifier.citationChavan-Dafie, Nikhil and Alberto Rodriguez. "Regrasping by Fixtureless Fixturing." IEEE 14th International Conference on Automation Science and Engineering (CASE), August 2018, Munich, Germany, Institute of Electrical and Electronics Engineers, December 2018. © 2018 IEEEen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.relation.journalIEEE 14th International Conference on Automation Science and Engineering (CASE)en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2020-08-03T12:45:08Z
dspace.date.submission2020-08-03T12:45:11Z
mit.licenseOPEN_ACCESS_POLICY


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