Position and Orientation Control of Polygonal Objects by Sensorless In-hand Caging Manipulation
Shun Komiyama Yusuke Maeda Shun Komiyama Yusuke Maeda
In this work, we propose an approach to manipulate objects by position-controlled robot hands: in-hand caging manipulation. In this method, an object is manipulated based on caging without force sensing or force control. An object is caged by a robot hand throughout manipulation, and we can locate the object around a goal by deformation of the cage without sensing the object configuration. In this...