Online Replanning With Human-in-the-Loop for Non-Prehensile Manipulation in Clutter — A Trajectory Optimization Based Approach
نویسندگان
چکیده
منابع مشابه
A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty
Robotic manipulation systems suffer from two main problems in unstructured human environments: uncertainty and clutter. We introduce a planning framework addressing these two issues. The framework plans rearrangement of clutter using non-prehensile actions, such as pushing. Pushing actions are also used to manipulate object pose uncertainty. The framework uses an action library that is derived ...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2020
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2020.3006826