Exploiting Robot Hand Compliance and Environmental Constraints for Edge Grasps.

This paper presents a method to grasp objects that cannot be picked directly from a table, using a soft, underactuated hand. These grasps are achieved by dragging the object to the edge of a table, and grasping it from the protruding part, performing so-called grasps. This type of approach, which uses the environment to facilitate the grasp, is named Environmental Constraint Exploitation (ECE), and has been shown to improve the robustness of grasps while reducing the planning effort.