5 papers · 1 filter
In-Hand Manipulation via Motion Cones
Nikhil Chavan-Dafle, Rachel Holladay, Alberto Rodriguez
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previousl…
Regrasping by Fixtureless Fixturing
Nikhil Chavan-Dafle, Alberto Rodriguez
This paper presents a fixturing strategy for regrasping that does not require a physical fixture. To regrasp an object in a gripper, a robot pushes the object against external cont…
Pneumatic Shape-shifting Fingers to Reorient and Grasp
Nikhil Chavan-Dafle, Kyubin Lee, Alberto Rodriguez
We present pneumatic shape-shifting fingers to enable a simple parallel-jaw gripper for different manipulation modalities. By changing the finger geometry, the gripper effectively…
Sampling-based Planning of In-Hand Manipulation with External Pushes
Nikhil Chavan-Dafle, Alberto Rodriguez
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framewo…
A Summary of Team MIT's Approach to the Amazon Picking Challenge 2015
Kuan-Ting Yu, Nima Fazeli, Nikhil Chavan-Dafle +4
The Amazon Picking Challenge (APC), held alongside the International Conference on Robotics and Automation in May 2015 in Seattle, challenged roboticists from academia and industry…