Related papers: Probabilistic Slide-support Manipulation Planning …
Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…
We investigate the task and motion planning problem of clearing clutter from a workspace with limited ingress/egress access for multiple robots. We call the problem multi-robot clutter removal (MRCR). Targeting practical applications where…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics…
Latest research in industrial robotics is aimed at making human robot collaboration possible seamlessly. For this purpose, industrial robots are expected to work on the fly in unstructured and cluttered environments and hence the subject of…
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…
For robots to operate autonomously in densely cluttered environments, they must reason about and potentially physically interact with obstacles to clear a path. Safely clearing a path on challenging terrain, such as a cluttered staircase,…
In this paper, we propose a new action planning approach to automatically pack long linear elastic objects into common-size boxes with a bimanual robotic system. For that, we developed a hybrid geometric model to handle large-scale…
We propose a Deep Interaction Prediction Network (DIPN) for learning to predict complex interactions that ensue as a robot end-effector pushes multiple objects, whose physical properties, including size, shape, mass, and friction…
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…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop…
This work introduces PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot's reachable workspace. Our…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
Automated bin-picking is a prerequisite for fully automated manufacturing and warehouses. To successfully pick an item from an unstructured bin the robot needs to first detect possible grasps for the objects, decide on the object to remove…
A common way to manipulate heavy objects is to maintain at least one point of the object in contact with the environment during the manipulation. When the object has a cylindrical shape or, in general, a curved edge, not only sliding and…
This work explores the use of topological tools for achieving effective non-prehensile manipulation in cluttered, constrained workspaces. In particular, it proposes the use of persistent homology as a guiding principle in identifying the…