Rigid and deformable pick and place algorithms
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This technical report explains the packages used in the WAM robot to pick and place cloth or tableware objects. The goal was to check if the WAM arm robot could perform several movements to fold and unfold deformables and manipulate some tableware objects. Eight different nodes have been implemented following a generic and a modular design in order to allow scalability and adaptability.
CitacióMartí, F., Alenyà, G. "Rigid and deformable pick and place algorithms". 2014.