Year: 2025
Type: article
Abstract: This paper presents tilt-and-pivot manipulation, a robotic technique for picking large, thin objects resting on hard supporting surfaces. The method employs in-hand dexterous manipulation by reorienting the gripper around the object's contact point, allowing a finger to enter the gap between the object and the surface, without requiring relative sliding at the contact. This finally facilitates reliable pinch grasps on the object's faces. We investigate the kinematic principles and planning strategies underlying tilt-and-pivot, discuss effector design considerations, and highlight the practical advantages of the strategy, which is applicable to a variety of low-profile objects. Experimental results, incorporating vision and force-torque sensing, demonstrate its effectiveness in bin-picking scenarios and its applicability to more complex object-handling tasks.
Source: Sensors
DOI: 10.3390/s25206496
Author: Jungwon Seo
Institution: Pusan National University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
Funder: Pusan National University
OpenAlex ID: W4415401846