This letter introduces a new method for scooping manipulation in constrained environments. The presented technique lends itself to relatively thin objects, with a large width-to-thickness ratio, which are commonly seen in many domestic and industrial tasks yet can cause considerable difficulty in handling. We present a novel approach to scooping based on a mobility analysis that leads to a new way to perform the operation via motion control with a two-fingered gripper. Our method thus expands the ways in which the manipulation of scooping can be performed, without necessitating underactuated control or a compliant mechanism. Our variable-length digit is suggested as a key facilitator for realizing the motion-controlled scooping maneuver. We present an extensive set of experiments showing the effectiveness of our approach in various scenarios featuring a constrained workspace, including bin picking from clutter.

中文翻译：

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两指夹爪运动控制的铲斗操作及其在拣选中的应用

这封信介绍了一种在受限环境中进行抓取操作的新方法。所提出的技术适用于相对较薄的物体，具有较大的宽厚比，这在许多家庭和工业任务中很常见，但在处理时会造成相当大的困难。我们提出了一种基于移动性分析的新型铲斗方法，该方法导致了一种通过两指抓手的运动控制来执行操作的新方法。因此，我们的方法扩展了可以执行铲取操作的方式，而无需欠驱动控制或柔顺机制。我们的可变长度数字被建议作为实现运动控制的舀取动作的关键促进因素。