Abstract:Pivoting gait, in which a robot iteratively tilts an object, rotates it around a vertex, and then places it down on the floor, is efficient for manipulating a large and heavy object with a relatively small manipulating force. However, pivoting gait can easily fail, even with a small external disturbance, due to its instability. To address this problem, we propose a controller to robustly control the object's motion during pivoting gait by introducing two gait modes, i.e., double-support mode, which can manipul… Show more
“…Their planner took advantage of inhand drooping and pivoting. Zhang et al [21] developed a pivoting planner for heavy objects by searching a regrasp graph of grasping poses and contact states. In this paper, we also study heavy objects but focus on planning a robot to use an external tool to assist in picking up and transferring the objects while considering contact state transitions.…”
Section: A Manipulation Considering Contact State Transitionsmentioning
“…Their planner took advantage of inhand drooping and pivoting. Zhang et al [21] developed a pivoting planner for heavy objects by searching a regrasp graph of grasping poses and contact states. In this paper, we also study heavy objects but focus on planning a robot to use an external tool to assist in picking up and transferring the objects while considering contact state transitions.…”
Section: A Manipulation Considering Contact State Transitionsmentioning
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