Related papers: Stable Object Placement Planning From Contact Poin…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…
Pick-and-place is one of the fundamental tasks in robotics research. However, the attention has been mostly focused on the ``pick'' task, leaving the ``place'' task relatively unexplored. In this paper, we address the problem of placing…
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…
Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
We present a system for accurately predicting stable orientations for diverse rigid objects. We propose to overcome the critical issue of modelling multimodality in the space of rotations by using a conditional generative model to…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…
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,…
Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…
Ensuring stable object placement is crucial to prevent objects from toppling over, breaking, or causing spills. When an object makes initial contact to a surface, and some force is exerted, the moment of rotation caused by the instability…
Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain.…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
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…
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…