Publication

Rigid and deformable pick and place algorithms

Technical Report (2014)

IRI code

IRI-TR-14-04

File

Download the digital copy of the doc pdf document

Abstract

This technical report explains the packages used in the WAM robot to pick and place cloth or tableware objects. The goal was to check if the WAM arm robot could perform several movements to fold and unfold deformables and manipulate some tableware objects. Eight different nodes have been implemented following a generic and a modular design in order to allow scalability and adaptability.

Categories

robots.

Scientific reference

F. Martí and G. Alenyà. Rigid and deformable pick and place algorithms. Technical Report IRI-TR-14-04, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2014.