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 i...

Robotic manipulation in cluttered environments is one of the challenges roboticists are currently facing. When objects to handle delicate fresh fruits, grasping even more challenging. Detecting and localizing fruits with accuracy necessary grasp them very difficult due large variability aspect dimensions each item. This paper proposes a solution that exploits state-of-the-art neural network nov...

Seahorses and pipehorses evolved at least two independent strategies for tail grasping, despite being armored with a heavy body plating. To help explain mechanical trade-offs associated with the different designs, we created a "family" of 3D-printed models that mimic variations in the presence and size of their armored plates. We measured the performance of the biomimetic proxies across seven m...

Many manipulation systems using air flow have been proposed for object handling in a non-prehensile way and without solid-to-solid contact. Potential applications include high-speed transport of fragile and clean products and high-resolution positioning of wafers. This paper discusses a comprehensive survey of state-of-the art pneumatic manipulation from the macro scale to the micro scale. The ...

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping can help displace objects to make pushing movements more precise and collision-free. In this work, we demonstrate that it is possible to discover and learn th...

This article presents a software platform tailored for prehensile manipulation planning named humanoid path planner. The implements an original way of modeling through constraint graph that represents the numerical constraints define problem. We propose extension RRT algorithm to is able solve large variety problems. provide replicable experimental results via docker image readers may download ...