This work introduces PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot's reachable workspace. Our qualitative and quantitative results demonstrate the advantages of poking over pushing and grasping in planning object trajectories through uncluttered and cluttered environments.
@article{arxiv.2203.04761,
title = {PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation},
author = {Anuj Pasricha and Yi-Shiuan Tung and Bradley Hayes and Alessandro Roncone},
journal= {arXiv preprint arXiv:2203.04761},
year = {2022}
}
Comments
Published at the IROS 2021 Workshop on Impact-Aware Robotics