Related papers: Arranging Test Tubes in Racks Using Combined Task …
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
In this paper we describe a method for packing tubes and boxes in containers. Each container is divided into parts (holders) which are allocated to subsets of objects. The method consists of a recursive procedure which, based on a…
A combined task-level reinforcement learning and motion planning framework is proposed in this paper to address a multi-class in-rack test tube rearrangement problem. At the task level, the framework uses reinforcement learning to infer a…
Chemists need to perform many laborious and time-consuming experiments in the lab to discover and understand the properties of new materials. To support and accelerate this process, we propose a robot framework for manipulation that…
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…
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…
Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
We contribute results for a set of fundamental problems in the context of programmable matter by presenting algorithmic methods for evaluating and manipulating a collective of particles by a finite automaton that can neither store…
We present how we formalize the waiting tables task in a restaurant as a robot planning problem. This formalization was used to test our recently developed algorithms that allow for optimal planning for achieving multiple independent tasks…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…
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…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve…
Many modern robotic systems operate autonomously, however they often lack the ability to accurately analyze the environment and adapt to changing external conditions, while teleoperation systems often require special operator skills. In the…
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…
This paper proposes a combined task and motion planner for a dual-arm robot to use a suction cup tool. The planner consists of three sub-planners -- A suction pose sub-planner and two regrasp and motion sub-planners. The suction pose…
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…