Chapter 5.1

The State of the Art in Grasping and Manipulation for Household Service

Yuandong Sun1, Huihuan Qian1,2,  and Yangsheng Xu1,2     1Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China     2Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China

Abstract

Robotic grasping and manipulation comprise three subtasks, i.e., target detection, planning, and control. The robot first needs to detect the target. Here “detect” means to find (or recognize) the target and locate it. The target could be the object to be manipulated (e.g., electrical plugs) or the destination of the object (electrical sockets). Then the robot approaches the target in an optimized ...

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