Related papers: Probabilistic Slide-support Manipulation Planning …
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…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…
We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately conduct visual grounding to localize the target object, and…
This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object modelling, well suited…
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
Multiple-suction-cup grasping can improve the efficiency of bin picking in cluttered scenes. In this paper, we propose a grasp planner for a vacuum gripper to use multiple suction cups to simultaneously grasp multiple objects or an object…
This paper considers the problem of retrieving an object from many tightly packed objects using a combination of robotic pushing and grasping actions. Object retrieval in dense clutter is an important skill for robots to operate in…
A vacuum lifter is widely used to hold and pick up large, heavy, and flat objects. Conventionally, when using a vacuum lifter, a human worker watches the state of a running vacuum lifter and adjusts the object's pose to maintain balance. In…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
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…
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the completeness of the approaches or the methods apply only when…
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…
This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat…
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…