Design and Implementation of Non-prehensile Manipulation Strategies

Pooja Bhat; Matthias Nieuwenhuisen; Dirk Schulz

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Paper

Design and Implementation of Non-prehensile Manipulation Strategies

Topics: Autonomous Agents; Robot Design, Development and Control; Software Agents for Intelligent Control Systems

In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics ICINCO - Volume 1, 67-78, 2022 , Lisbon, Portugal

Authors: Pooja Bhat ; Matthias Nieuwenhuisen and Dirk Schulz

Affiliation: Fraunhofer Institute for Communication, Information Processing and Ergonomics FKIE, Wachtberg, Germany

Keyword(s): Non-prehensile Manipulation, Force-torque Control, Compliant Manipulation.

Abstract: Grasping of objects is not always feasible for robot manipulators, e.g., due to their geometric properties. Non-prehensile manipulation strategies can enable manipulators to successfully move these objects around. We discuss strategies for non-prehensile manipulation and focus on the investigation of such manipulation strategies based on open- and closed-loop control based on force torque measurements. The design of grippers for moving objects is also an important factor that is evaluated. The strategies are implemented and evaluated in simulation and on a KUKA LWR4+ manipulator arm.

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Paper citation in several formats:

Bhat, P.; Nieuwenhuisen, M. and Schulz, D. (2022). Design and Implementation of Non-prehensile Manipulation Strategies. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 67-78. DOI: 10.5220/0011320700003271

@conference{icinco22,
author={Pooja Bhat. and Matthias Nieuwenhuisen. and Dirk Schulz.},
title={Design and Implementation of Non-prehensile Manipulation Strategies},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={67-78},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011320700003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Design and Implementation of Non-prehensile Manipulation Strategies
SN - 978-989-758-585-2
IS - 2184-2809
AU - Bhat, P.
AU - Nieuwenhuisen, M.
AU - Schulz, D.
PY - 2022
SP - 67
EP - 78
DO - 10.5220/0011320700003271
PB - SciTePress