An integrated approach for determining objects to be relocated and their goal positions inside clutter for object retrieval
Jeeho Ahn Jaeho Lee Sang Hun Cheong ChangHwan Kim Changjoo Nam Jeeho Ahn Jaeho Lee Sang Hun Cheong ChangHwan Kim Changjoo Nam
We consider the problem of rearranging objects in a cluttered and confined space using a robotic manipulator. The goal is to retrieve a target object from the clutter where the target is occluded by other objects. In situations where overhand grasps are not allowed, the robot needs to remove some objects to make the target accessible. In the course of removing the objects, the robot also needs to ...