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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两指夹具运动控制铲取操作及其在箱式拣选中的应用


这封信介绍了一种在受限环境中进行舀取操作的新方法。所提出的技术适用于具有较大宽厚比的相对较薄的物体，这在许多家庭和工业任务中很常见，但在处理时可能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颖的舀取方法，该方法带来了一种通过两指夹具的运动控制来执行操作的新方法。因此，我们的方法扩展了执行舀取操作的方式，而无需欠驱动控制或顺从机制。我们的可变长度数字被建议作为实现运动控制的舀动作的关键促进者。我们提出了一系列广泛的实验，展示了我们的方法在工作空间受限的各种场景中的有效性，包括从杂物中拣选垃圾箱。