49 citations · 71 across the 3 of their papers we have counts for
9 papers
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning
Andrew S. Morgan, Kaiyu Hang, Bowen Wen +2
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is…
Benchmarking In-Hand Manipulation
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang +3
The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems. The goal is to assess the system's ability to change the pose…
Multi-Object Rearrangement with Monte Carlo Tree Search:A Case Study on Planar Nonprehensile Sorting
Haoran Song, Joshua A. Haustein, Weihao Yuan +4
In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where the…
Object Placement Planning and Optimization for Robot Manipulators
Joshua A. Haustein, Kaiyu Hang, Johannes Stork +1
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-…
Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs
Silvia Cruciani, Kaiyu Hang, Christian Smith +1
This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on whic…
Learning Manipulation States and Actions for Efficient Non-prehensile Rearrangement Planning
Joshua A. Haustein, Isac Arnekvist, Johannes Stork +2
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planni…