Related papers: Preparatory Manipulation Planning using Automatica…
Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…
We propose Synchronous Dual-Arm Rearrangement Planner (SDAR), a task and motion planning (TAMP) framework for tabletop rearrangement, where two robot arms equipped with 2-finger grippers must work together in close proximity to rearrange…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
To safely and efficiently extract an object from the clutter, this paper presents a bimanual manipulation planner in which one hand of the robot is used to slide the target object out of the clutter while the other hand is used to support…
Rearranging objects on a planar surface arises in a variety of robotic applications, such as product packaging. Using two arms can improve efficiency but introduces new computational challenges. This paper studies the structure of dual-arm…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions…
This study is about the implementation of a reinforcement learning algorithm in the trajectory planning of manipulators. We have a 7-DOF robotic arm to pick and place the randomly placed block at a random target point in an unknown…
This paper proposes a novel assembly planner for a manipulator which can simultaneously plan assembly sequence, robot motion, grasping configuration, and exchange of grippers. Our assembly planner assumes multiple grippers and can…
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…
A high redundant non-holonomic humanoid mobile dual-arm manipulator system is presented in this paper where the motion planning to realize "human-like" autonomous navigation and manipulation tasks is studied. Firstly, an improved MaxiMin…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
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…
In robot manipulation, planning the motion of a robot manipulator to grasp an object is a fundamental problem. A manipulation planner needs to generate a trajectory of the manipulator arm to avoid obstacles in the environment and plan an…
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…
We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…