Making objects graspable in confined environments through push and pull manipulation with a tool

Elliott, Sarah; Valente, Michelle; Çakmak, Maya

doi:10.1109/icra.2016.7487689

Cited by 17 publications

(16 citation statements)

References 21 publications

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“…From issues raised by the previous research [2,5,6], to reduce the number of manipulations required to clear off the field what some researchers did was that instead of manipulating a single object to improve the systems perception of it, the system instead manipulates the pile as a whole [3,4]. In this case, instead of poking and perturbing one object until it is reconfigured into an ideal position, they instead pushes/spread out/tumble the pile into a cluster of individual bricks followed by removing them one at a time using pick and place method.…”

Section: Literature Reviewmentioning

confidence: 96%

“…As mentioned previously, object isolation is a niche field of study which stems from a larger group of study known as pile manipulation/ interaction [2][3][4][5][6]. The field of isolation itself can be broken down into two circumstances which are isolation where we aim to remove the environment from the object of interest and singulation where we remove the object of interest from the environment.…”

Section: Literature Reviewmentioning

confidence: 99%

“…As of such, the manipulation primitives commonly employed for this is pick and place due to the requirements of precision in the act of relocating/repositioning the objects from a pile. This motion is often assisted by perturbing pushes to loosen/separate the objects that were in a pile to make it easier for grasping to occur [2,5,6]. By having small and discrete motion to adjust the individual object within the pile into a desirable configuration and subsequently manipulating it out with pick and place, the method boosted a high accuracy in manipulation however suffers in terms of number of manipulations required to clear off the field.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Object isolation in essence is the problem of removing the clutter/unwanted objects away from the object of interest or the object of interest from the cluttered environment. Most research when it comes to isolation focuses on the removing the object of interest from the scene [1][2][3][4][5][6][7][8] as it is often the fastest way to isolate and arguably the most useful in the industry. Methods to tackle said problem in the manner mentioned previously often coincides or is in fact often treated as an extension to the field of object sorting due to its precise nature in handling the objects with minimal interactions to its surroundings.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Object Isolation with Minimal Impact Towards the Object of Interest in a Complex Environment using Manipulation Primitives

2019

IJRTE

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It is common in the field of robotic manipulation to specifically target and precisely move, displace or manipulate the targeted object of interest. This however may not always be the best possible course of action as there are situations where it is not possible to manipulate the object of interest or is not in a condition to be manipulated. This research paper explores and subsequently proposes 3 object isolation technique for the purpose of isolating a targeted object of interest from the environment incontras to the standard utilization of object singulation technique. The goal was to develop an algorithm than can successfully isolate the object of interest from the environment via removing the environment without/with minimal impact towards the object of interest. Results from the experiment indicated that the proposed algorithms can successfully isolate the object of interest with minimal impact towards the object of interest scoring an average of 0.85cm/actuation for MSMAPPS, 0.75cm/actuation for MSMAPOS and finally 0.27cm/actuation for BSMAPOS. These results indicates a relatively small displacement per actuation at 4.35% displacement per actuation, 3.75% displacement per actuation, and 1.35% displacement per actuation relative to the workspace respectively.

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Section: Literature Reviewmentioning

confidence: 96%

Section: Literature Reviewmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Object Isolation with Minimal Impact Towards the Object of Interest in a Complex Environment using Manipulation Primitives

2019

IJRTE

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“…Given such a learned function, planning proceeds as before. A number of instances of this approach exist [10,11,12].…”

Section: Introductionmentioning

confidence: 99%

Reliably Arranging Objects in Uncertain Domains

Anders

Kaelbling

Lozano-Pérez

2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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A crucial challenge in robotics is achieving reliable results in spite of sensing and control uncertainty. In this work, we explore the conformant planning approach to robot manipulation. In particular, we tackle the problem of pushing multiple planar objects simultaneously to achieve a specified arrangement without external sensing. Conformant planning is a belief-state planning problem. A belief state is the set of all possible states of the world, and the goal is to find a sequence of actions that will bring an initial belief state to a goal belief state. To do forward belief-state planning, we created a deterministic belief-state transition model from supervised learning based on off-line physics simulations. We compare our method with an on-line physics-based manipulation approach and show significantly reduced planning times and increased robustness in simulated experiments. Finally, we demonstrate the success of this approach in simulations and physical robot experiments.

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Pushing corridors for delivering unknown objects with a mobile robot

Krivić

Piater

2018

Auton Robot

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This work addresses the problem of object delivery with a mobile robot in real-world environments. We introduce a multilayer, modular pushing skill that enables a robot to push unknown objects in such environments. We present a strategy that guarantees obstacle avoidance for object delivery by introducing the concept of a pushing corridor. This allows pushing objects in scattered and dynamic environments while exploiting the available collision-free area. Moreover, to push unknown objects, we propose an adaptive pushing controller that learns local inverse models of robot-object interaction on the fly. We performed exhaustive tests showing that our controller can adapt to various unknown objects with different mass and friction distributions. We show empirically that the proposed pushing skill leads towards successful pushes without prior knowledge and experience. The experimental results also demonstrate that the robot can successfully deliver objects in complex scenarios.

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Making objects graspable in confined environments through push and pull manipulation with a tool

Cited by 17 publications

References 21 publications

Object Isolation with Minimal Impact Towards the Object of Interest in a Complex Environment using Manipulation Primitives

Object Isolation with Minimal Impact Towards the Object of Interest in a Complex Environment using Manipulation Primitives

Reliably Arranging Objects in Uncertain Domains

Pushing corridors for delivering unknown objects with a mobile robot

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