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Reactive algorithms for grasping using a modified parallel jaw gripper

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2 Author(s)
Teichmann, M. ; Robotics & Manuf. Lab., Courant Inst. of Math. Sci., New York, NY, USA ; Mishra, B.

Considers the problem of grasping an unknown polygonal flat object using a parallel jaw gripper. The authors propose to equip a standard gripper with several light-beam sensors (close to each jaw) and describe a reactive grasping algorithm. This is done by probing the object to locate a good grasp position, and then grasping, without moving the object significantly. The goal is to do as little motion as possible to find a grasp. This algorithm can be viewed in, a competitive framework, where the authors' algorithm is competing against any algorithm which already knows the object

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994