Abstract
This research explores non-prehensile manipulation - moving objects without grasping them. Three main components were developed: striking objects to desired poses, pushing multiple objects simultaneously, and designing a two-finger gripper with linear actuators.
Components
- Trajectory Optimization: Compute optimal striking trajectories to reach target poses
- Multi-object Pushing: Plan collision-free paths while pushing multiple objects
- Gripper Design: Two-finger gripper with linear actuators for hybrid grasping
Results
Successfully demonstrated object repositioning with 90% success rate and multi-object coordination in cluttered environments.