Takumi Saeki

Grasping Without Grasping: A Sweeping-Based Pickup Strategy Using Planar Fingers

Conventional object pickup strategies utilize multi-point contact by grippers or an enveloping grasp by multi-finger hands, both of which require as high a number of degrees of freedom (DOFs) as possible, in addition to precise control to maintain the equilibrium between the fingers and the object while handling it. Th...