Manipulating unknown objects in a cluttered environment is difficult because segmentation of the scene into objects, that is, object composition, uncertain. Due to uncertainty, prior work has either identified “best” composition and decided on manipulation actions accordingly or tried greedily gather information about composition. We instead, first, use different possible compositions planning,...

We focus on manipulating the object of unknown shape, weight and friction properties in hand task. Unlike the traditional method considering the manipulation as multi times grasp planning, we follow the behavior robotics opinion and propose the reactive manipulation strategy. Firstly, we design the compact closed loop control (local controller) to manipulate object in the neighbor area of its c...