Use Cases


Gripping and opening the zipper of a deformed cloth bag.


Grasp the plug at the end of the cable and insert it into the outlet.

I.    3D Camera
II.   2D Camera
III.  Contact Sensor (uSkin)

Technical Problems
It is necessary to generate a robot trajectory for insertion according to the unstable gripping position of the plug.

The plug should be inserted even if the gripping position and angle deviate.


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