Affordance-Guided Enveloping Grasp Demonstration Toward Non-destructive Disassembly of Pinch-Infeasible Mating Parts

Masaki Tsutsumi, Takuya Kiyokawa, Gen Sako +1

Robotic disassembly of complex mating components often renders pinch grasping infeasible, necessitating multi-fingered enveloping grasps. However, visual occlusions and geometric c…