Manipulation Planning Among Movable Obstacles Using Physics-Based Adaptive Motion Primitives
Dhruv Mauria Saxena Muhammad Suhail Saleem Maxim Likhachev Dhruv Mauria Saxena Muhammad Suhail Saleem Maxim Likhachev
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose, instead of deliberate prehensile rearrangement of the scene. For each object in a scene, depending on its properties, the robot may or may not be allowed to make cont...