PokeRRT: Poking as a Skill and Failure Recovery Tactic for Planar Non-Prehensile Manipulation
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3148442
Abstract: In this work, we introduce PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot’s reachable workspace.… read more here.
Keywords: recovery tactic; prehensile manipulation; failure recovery; manipulation ... See more keywords
Learning Pneumatic Non-Prehensile Manipulation With a Mobile Blower
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3187833
Abstract: We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must i) continually adapt to… read more here.
Keywords: prehensile manipulation; non prehensile; manipulation; pneumatic non ... See more keywords
A Non-Prehensile Object Transportation Framework With Adaptive Tilting Based on Quadratic Programming
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3268594
Abstract: This work proposes an operational space control framework for non-prehensile object transportation using a robot arm. The control actions for the manipulator are computed by solving a quadratic programming problem considering the object's and manipulator's… read more here.
Keywords: prehensile object; quadratic programming; framework; transportation ... See more keywords