Related papers: Manipulation Planning under Changing External Forc…
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…
This paper presents a fixturing strategy for regrasping that does not require a physical fixture. To regrasp an object in a gripper, a robot pushes the object against external contact/s in the environment such that the external contact…
As environments involving both robots and humans become increasingly common, so does the need to account for people during planning. To plan effectively, robots must be able to respond to and sometimes influence what humans do. This…
We present a motion planning algorithm with probabilistic guarantees for limbed robots with stochastic gripping forces. Planners based on deterministic models with a worst-case uncertainty can be conservative and inflexible to consider the…
In this work, we present a grasp planner which integrates two sources of information to generate robust grasps for a robotic hand. First, the topological information of the object model is incorporated by building the mean curvature…
Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external disturbances remains underexplored in robotic tool-use planning.…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Multi-stage forceful manipulation tasks, such as twisting a nut on a bolt, require reasoning over interlocking constraints over discrete as well as continuous choices. The robot must choose a sequence of discrete actions, or strategy, such…
Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
This paper addresses the planar finger kinematics for seeking optimized manipulation strategies. The first step is to model based on geometric features of linear and rotation motion so that the robot can select the fingers configurations.…
Different manipulation tasks require different types of grasps. For example, holding a heavy tool like a hammer requires a multi-fingered power grasp offering stability, while holding a pen to write requires a multi-fingered precision grasp…
In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…
We are interested in pick-and-place style robot manipulation tasks in cluttered and confined 3D workspaces among movable objects that may be rearranged by the robot and may slide, tilt, lean or topple. A recently proposed algorithm, M4M,…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of actions using just one hand, without having to continuously…
Intelligent robots need to generate and execute plans. In order to deal with the complexity of real environments, planning makes some assumptions about the world. When executing plans, the assumptions are usually not met. Most works have…