2 papers
cs.RO2023
Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects
Rebecca H. Jiang, Neel Doshi, Ravi Gondhalekar +1
We propose a framework for optimizing a planar parallel-jaw gripper for use with multiple objects. While optimizing general-purpose grippers and contact locations for grasps are bo…
cs.RO2023
Object manipulation through contact configuration regulation: multiple and intermittent contacts
Orion Taylor, Neel Doshi, Alberto Rodriguez
In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all co…