Research Article
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 |
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