Related papers: Manipulation Planning Among Movable Obstacles Usin…
Pruning is an essential agricultural practice for orchards. Proper pruning can promote healthier growth and optimize fruit production throughout the orchard's lifespan. Robot manipulators have been developed as an automated solution for…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
We propose a method for planning motion for robots with actuation uncertainty that incorporates contact with the environment and the compliance of the robot to reliably perform manipulation tasks. Our approach consists of two stages: (1)…
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…
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
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…
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…
3D object reconfiguration encompasses common robot manipulation tasks in which a set of objects must be moved through a series of physically feasible state changes into a desired final configuration. Object reconfiguration is challenging to…
Efficient tabletop rearrangement remains challenging due to collisions and the need for temporary buffering when target poses are obstructed. Prehensile pick-and-place provides precise control but often requires extra moves, whereas…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Programming a robot to deal with open-ended tasks remains a challenge, in particular if the robot has to manipulate objects. Launching, grasping, pushing or any other object interaction can be simulated but the corresponding models are not…
Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…
We present a human-guided planner for non-prehensile manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning, however, the problem remains a challenging one where the planning times are still…
In this paper, we investigate the possibility of applying plan transformations to general manipulation plans in order to specialize them to the specific situation at hand. We present a framework for optimizing execution and achieving higher…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…