ROBOTIC MANIPULATION OF OBJECTS FOR GRIP ADJUSTMENT

摘要

Embodiments described herein relate to systems and methods for adjusting a grip on an object held by a gripper of a robotic system. The gripper may manipulate the object to bring a portion of the object into contact with a supporting surface underlying the object, and the gripper may undergo one or more displacements relative the object to apply frictional pushes to the object while the object is held stationary against the supporting surface. The gripper maintains contact with the object during the one or more displacements, and the displacement(s) may be at least partially directed towards the supporting surface. According to some aspects, such manipulation strategies may provide a functionality of fixturing an object for regripping without requiring customized fixture hardware.