Related papers: Object Placement Planning and Optimization for Rob…

This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…

Robot arm placements are oftentimes a limitation in surgical preoperative procedures, relying on trained staff to evaluate and decide on the optimal positions for the arms. Given new and different patient anatomies, it can be challenging to…

In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…

Real-world manipulation problems in heavy clutter require robots to reason about potential contacts with objects in the environment. We focus on pick-and-place style tasks to retrieve a target object from a shelf where some `movable'…

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 introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…

We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. However, in real life scenarios, this information is not available most of the time. We introduce a novel method that…

Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…

During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…

In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-prehensile manipulation is challenging due to its…

A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…

Robotic grasping in cluttered environments is often infeasible due to obstacles preventing possible grasps. Then, pre-grasping manipulation like shifting or pushing an object becomes necessary. We developed an algorithm that can learn, in…

The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…

In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…

We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

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…