This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

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...

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 ...

Analysis of the manipulation strategies employed by upper-limb prosthetic device users can provide valuable insights into shortcomings current technology or therapeutic interventions. Typically, this problem has been approached with survey lab-based studies, whose prehensile-grasp-focused results do not necessarily give accurate representations daily activity. In work, we capture prosthesis-use...

This paper describes our experiments with a distributed manipulation system. We study a system in which multiple robots cooperate to move large objects such as furniture and boxes using a constrained prehensile manipulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tieing ropes around objects, affecting translations using a flossing manipulation gait...

This paper describes a system in which multiple robots cooperate to move multiple objects such as groups of boxes using a constrained prehensile manipulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tieing ropes around objects, affecting rotations using a flossing manipulation gait, and affecting translations using a ratcheting manipulation gait. We...

We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into target receptacle. Due to the chaotic nature aerodynamic forces, blowing controller must (i) continually adapt unexpected changes from its actions, (ii) maintain fine-grained control, since slightest misstep can result in large unintended consequences (e.g., scatter alrea...

Robotic manipulation in cluttered environments requires synergistic planning among prehensile and non-prehensile actions. Previous works on sampling-based Task Motion Planning (TAMP) algorithms, e.g. PDDLStream, provide a fast generalizable solution for multi-modal manipulation. However, they are likely to fail scenarios where no collision-free grasping approaches can be sampled without prelimi...