Multisensor-Based Autonomous Grasp Planning for Mobile Manipulator Navigation System with a Novel Soft Gripper

Table 6

The success rate of grasping.

Object	Size (mm)	Weight (g)	Pressure (kPa)	Success rate (%)
Instant noodles	φ150 × φ120 × 110	191	60	70	0.7441
Tissue	134 × 98 × 72	132	50	90	0.8536
Gamepad	154 × 104 × 56	262	50	80	—
Steamed cake	102 × 60 × 44	27	30	100	0.9962
Towel	140 × 72 × 45	31	40	100	0.9648
Sponge	200 × 200 × 15	10	30	90	0.5114
Earpick	φ1.8 × 75	4	15	100	—
Toothpick	φ1.7 × 62	<1	10	90	—
Business card	90 × 56 × 0.4	1	15	100	0.9998