Push planning for object placement on cluttered table surfaces

Push planning for object placement on cluttered table surfaces

We present a novel planning algorithm for the problem of placing objects on a cluttered surface such as a table, counter or floor. The planner (1) selects a placement for the target object and (2) constructs a sequence of manipulation actions that create space for the object. When no continuous spac...

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Hauptverfasser: Cosgun, A., Hermans, T., Emeli, V., Stilman, M.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Clutter
Grasping
Heuristic algorithms
Planning
Robots
Search problems
Shape
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creator Cosgun, A.
Hermans, T.
Emeli, V.
Stilman, M.
description We present a novel planning algorithm for the problem of placing objects on a cluttered surface such as a table, counter or floor. The planner (1) selects a placement for the target object and (2) constructs a sequence of manipulation actions that create space for the object. When no continuous space is large enough for direct placement, the planner leverages means-end analysis and dynamic simulation to find a sequence of linear pushes that clears the necessary space. Our heuristic for determining candidate placement poses for the target object is used to guide the manipulation search. We show successful results for our algorithm in simulation.
doi_str_mv 10.1109/IROS.2011.6094737
format Conference Proceeding
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subjects Clutter
Grasping
Heuristic algorithms
Planning
Robots
Search problems
Shape
title Push planning for object placement on cluttered table surfaces
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