Using Manipulation Primitives for Object Sorting in Cluttered Environments
نویسندگان
چکیده
منابع مشابه
Visibility-based spatial reasoning for object manipulation in cluttered environments
In this paper, we present visibility-based spatial reasoning techniques for real-time object manipulation in cluttered environments. When a robot is requested to manipulate an object, a collision-free path should be determined to access, grasp, and move the target object. This often requires processing of time-consuming motion planning routines, making real-time object manipulation difficult or...
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We want our robots to work in human environments. However, human environments are cluttered and clutter creates problems for robotic manipulation. We propose to develop a framework for manipulation in highly cluttered environments. We propose to rearrange the environment using prehensile and non-prehensile actions. We present our preliminary work, a framework in which a high-level rearrangement...
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Touch-based object localization is an important component of autonomous robotic systems that are to perform dexterous tasks in real-world environments. When the objects to locate are placed within clutters, this touch-based procedure tends to generate outlier measurements which, in turn, can lead to a significant loss in localization precision. Our first contribution is to address this problem ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automation Science and Engineering
سال: 2015
ISSN: 1545-5955,1558-3783
DOI: 10.1109/tase.2014.2361346