Object Manipulation

We propose a collision-inclusive planning framework for occluded object grasping that allows and exploits intentional collisions through compliant robot motions, demonstrating effective manipulation in scenarios where traditional collision-free approaches are insufficient.

We propose a novel concept called “Caging in Time” that enables robust object manipulation with a single robot under uncertainties and limited perception. This approach allows caging configurations to be formed temporally, demonstrating effective open-loop manipulation without requiring detailed object knowledge or real-time feedback.