Related papers: Object-Centric Kinodynamic Planning for Nonprehens…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
This paper presents a novel approach for controlling humanoid robots to push heavy objects. The approach combines kinodynamics-based pose optimization and loco-manipulation model predictive control (MPC). The proposed pose optimization…
Non-prehensile manipulation, such as pushing objects to a desired target position, is an important skill for robots to assist humans in everyday situations. However, the task is challenging due to the large variety of objects with different…
Motion planning is a mature area of research in robotics with many well-established methods based on optimization or sampling the state space, suitable for solving kinematic motion planning. However, when dynamic motions under constraints…
Object-centric representation (OCR) has recently become a subject of interest in the computer vision community for learning a structured representation of images and videos. It has been several times presented as a potential way to improve…
Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…
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,…
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…
Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for…
We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfully perform this task, the robot needs to (i) detect the…
Non-prehensile multi-object rearrangement is a robotic task of planning feasible paths and transferring multiple objects to their predefined target poses without grasping. It needs to consider how each object reaches the target and the…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…