TY - GEN
T1 - Non-prehensile Modes of Object Manipulation
T2 - 19th Control Instrumentation System Conference, CISCON 2022
AU - Menon, Mukund Kumar
AU - George, V. I.
AU - Goyal, Shashank
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024
Y1 - 2024
N2 - Any given object can be manipulated in a 3D space using human (or using industrial anthropomorphic) arm(s). Depending on the material property and geometry of the object, the task of object handling is done by either prehensile modes or by non-prehensile modes. While prehensile modes of object manipulation involve human fingers (or robotic grippers) to grasp and hold on to any given object for its spatial reconfiguration, the non-prehensile modes do not so. This paper attempts to provide a comprehensive resource for all readers on the non-prehensile mode of object transportation and its various types which are currently used or mentioned in various works of literature.
AB - Any given object can be manipulated in a 3D space using human (or using industrial anthropomorphic) arm(s). Depending on the material property and geometry of the object, the task of object handling is done by either prehensile modes or by non-prehensile modes. While prehensile modes of object manipulation involve human fingers (or robotic grippers) to grasp and hold on to any given object for its spatial reconfiguration, the non-prehensile modes do not so. This paper attempts to provide a comprehensive resource for all readers on the non-prehensile mode of object transportation and its various types which are currently used or mentioned in various works of literature.
UR - https://www.scopus.com/pages/publications/85194240944
UR - https://www.scopus.com/pages/publications/85194240944#tab=citedBy
U2 - 10.1007/978-981-99-9554-7_34
DO - 10.1007/978-981-99-9554-7_34
M3 - Conference contribution
AN - SCOPUS:85194240944
SN - 9789819995530
T3 - Lecture Notes in Electrical Engineering
SP - 449
EP - 462
BT - Control and Information Sciences - Select Proceedings of CISCON 2022
A2 - George, V.I.
A2 - Santhosh, K.V.
A2 - Lakshminarayanan, Samavedham
PB - Springer Science and Business Media Deutschland GmbH
Y2 - 28 October 2022 through 29 October 2022
ER -