Reorienting Objects in 3D Space Using Pivoting

Understand

We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper.

• Reorienting problem is challenging because of its non-smoothness and high dimensionality.
• In this work, we focus on solving reorienting using pivoting, in which we allow the grasped object to rotate between fingers.
• Pivoting decouples the gripper rotation from the object motion, making it possible to reorient an object under strict robot workspace constraints.