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cs.RO2018
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…
cs.RO2018
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…
cs.RO2018
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…