Related papers: Object Rearrangement with Nested Nonprehensile Man…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
This paper presents a manipulation planning algorithm for robots to reorient objects. It automatically finds a sequence of robot motion that manipulates and prepares an object for specific tasks. Examples of the preparatory manipulation…
Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free…
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…
Many real-world tasks, from house-cleaning to cooking, can be formulated as multi-object rearrangement problems -- where an agent needs to get specific objects into appropriate goal states. For such problems, we focus on the setting that…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
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…
We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…
Efficient object manipulation strategies have significant impact in automation applications. In this work, the stack rearrangement in tabletop settings is studied, with a focus on augmenting the task planning domain with richer…
We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…
In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where these classes are clearly separated from each other. To achieve…
This thesis provides an in-depth structural analysis and efficient algorithmic solutions for tabletop object rearrangement with overhand grasps (TORO), a foundational task in advancing intelligent robotic manipulation. Rearranging multiple…
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…
We study a class of rearrangement problems under a novel pick-n-swap prehensile manipulation model, in which a robotic manipulator, capable of carrying an item and making item swaps, is tasked to sort items stored in lattices of variable…
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…