Robot to Human Object Handover using Vision and Joint Torque Sensor Modalities

no code implementations • 27 Oct 2022 • Mohammadhadi Mohandes, Behnam Moradi, Kamal Gupta, Mehran Mehrandezh

We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand.

Hand Detection Object

Generalized Grasping for Mechanical Grippers for Unknown Objects with Partial Point Cloud Representations

no code implementations • 23 Jun 2020 • Michael Hegedus, Kamal Gupta, Mehran Mehrandezh

We present a generalized grasping algorithm that uses point clouds (i. e. a group of points and their respective surface normals) to discover grasp pose solutions for multiple grasp types, executed by a mechanical gripper, in near real-time.