Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects.
Jingyi Xu, Michael Danielczuk, Jeff Ichnowski, Jeffrey Mahler, Eckehard Steinbach, Ken Goldberg.
Under Review, 2019.
Minimal work grasps for 3D deformable hollow objects
Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as a novel grasp …read more
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