Analysis of Open-Loop Grasping From Piles
Előd Páll Oliver Brock Előd Páll Oliver Brock
This paper offers an explanation of why humans can effortlessly grasp objects from a pile. We identified a regularity in objects’ motion when pushed, namely, an object separates and stabilizes in front of the pusher. We devise an open-loop grasping strategy leveraging this regularity in piles of nearly identical objects. Our real robot robustly grasps round objects beside a wall with success rates...