Manipulation with Multiple Action Types
نویسندگان
چکیده
We present DARRT, a sampling-based algorithm for planning with multiple types of manipulation. Given a robot, a set of movable objects, and a set of actions for manipulating the objects, DARRT returns a sequence of manipulation actions that move the robot and objects from an initial configuration to a final configuration. The manipulation actions may be non-prehensile, meaning that the object is not rigidly attached to the robot, such as push, tilt, or pull. We describe a simple extension to the RRT algorithm to search the combined space of robot and objects and present an implementation of DARRT on the Willow Garage PR2 robot.
منابع مشابه
Effect of Peer Performance, Future Competitive Performance, and Factors of Correlation with Peer Companies on Manipulation of Abnormal Real Operations
This study aimed to evaluate the effect of peer performance, future competitive performance and factors of correlation with peer companies on the manipulation of abnormal real operations. The research subjects included listed companies in Tehran Stock Exchange during 2013-2017. In total, 128 companies were selected as the statistical sample using systematic elimination approach. Peer performanc...
متن کاملEffective Parameters in Contact Mechanic for Micro/nano Particle Manipulation Based on Atomic Force Microscopy
The effect of geometry and material of the Micro/Nano particle on contact mechanic for manipulation was studied in this work based on atomic force microscopy. Hertz contact model simulation for EpH biological micro particle with spherical, cylindrical, and circular crowned roller shape was used to investigate the effect of geometry on contact simulation process in manipulation. Then, to val...
متن کاملGenetic Manipulation of Cardiac K Channel Function in Mice
In the mammalian myocardium, potassium (K ) channels control resting potentials, action potential waveforms, automaticity, and refractory periods and, in most cardiac cells, multiple types of K channels that subserve these functions are expressed. Molecular cloning has revealed the presence of a large number of K channel pore forming ( ) and accessory ( ) subunits in the heart, and considerable...
متن کاملGenetic manipulation of cardiac K(+) channel function in mice: what have we learned, and where do we go from here?
In the mammalian myocardium, potassium (K(+)) channels control resting potentials, action potential waveforms, automaticity, and refractory periods and, in most cardiac cells, multiple types of K(+) channels that subserve these functions are expressed. Molecular cloning has revealed the presence of a large number of K(+) channel pore forming (alpha) and accessory (beta) subunits in the heart, a...
متن کاملInterference of Various Sources of Sensory Feedback on Transition of Relative Phase in Bimanual Coordination on Active and Inactive Woman With Multiple Sclerosis
Purpose: Comparing the effects of manipulating senses on relative phase transition bimanual coordination pattern of active and inactive women with Multiple Sclerosis (MS). Methods: The methodology of this study was repeated-measures design. Study participants comprised 10 active women and 10 inactive women with multiple sclerosis who voluntarily participated in this experiment. The participant...
متن کامل