PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation
arXiv:2203.04761
Abstract
This work introduces 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. Our qualitative and quantitative results demonstrate the advantages of poking over pushing and grasping in planning object trajectories through uncluttered and cluttered environments.
Published at the IROS 2021 Workshop on Impact-Aware Robotics