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We propose an anytime algorithm to plan the placement of a rigid object with a dual-arm robot in a cluttered environment. The algorithm integrates sampling-based motion planning with a novel hierarchical search for suitable placement poses, incrementally producing approach motions to stable placement poses and reaching placements with better objectives as runtime progresses. Our approach is effective for two different placement objectives, even in challenging scenarios.

The paper presents a method for developing precise, quasi-static control strategies for fingertip manipulation in robot hands. The method involves extracting object transition maps by tracking the state of the grasp frame and developing a regression map of the action-reaction pairs. The approach is agnostic to the global geometry of the object and is able to adapt when undesirable contact conditions occur. The methodology estimates the nonlinearities representative in the properties of the system. The framework is tested physically on an adapted Yale Openhand Model O and demonstrated to be robust to inaccuracies in parameter estimation.

We address the problem of fingertip design by leveraging the fact that most grasp contacts share a few classes of local geometries. To …

Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task that requires skillful interaction with the …

We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot’s …

This work proposes a framework for tracking a desired path of an object held by an adaptive hand via within-hand manipulation. Such …

We consider the problem of finding optimal grasp contacts for arbitrary objects, based on a given grasp quality function. Our approach …

In this work, we present an algorithm that simultaneously searches for a high-quality fingertip grasp and a collision-free path for a …

In this paper, we propose a solution to the problem of herding by caging. Given a set of mobile robots (called herders) and a group of …

Efficient and accurate planning of fingertip grasps is essential for dexterous in-hand manipulation. In this work, we present a system …