Prying grasp strategy with failure recovery

Citation Author(s):
QI
ZHANG
Submitted by:
QI ZHANG
Last updated:
Tue, 08/30/2022 - 00:46
DOI:
10.21227/fq8w-1g85
Data Format:
*.slx
Research Article Link:
Prying Grasp for Picking Thin Object Using Thick Fingertips
Links:
pry_grasp_source.slx
License:
Creative Commons Attribution
66 Views
Categories:
Artificial Intelligence
Keywords:
grasping, in-hand manipulation
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Abstract 

The code is the sequence of prying grasp. The failure detection and recovery are included in the code.

Instructions: 

The code is to realize the prying grasp. And failure detection and recovery are also included in the code. The gripper is controlled by Simulink and dSPACE. Since the gripper has not been published, the hand controller is set as a blank function. The sequence of the prying grasp is described in the code. The prying force increases from zero during the prying motion, and the fingertips detect whether the object is pried up. If the object is failed to be pried up, the gripper will repeat the prying motion with a larger prying force until the object is pried up.

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