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cs.RO2022
Rearrangement-Based Manipulation via Kinodynamic Planning and Dynamic Planning Horizons
Kejia Ren, Lydia E. Kavraki, Kaiyu Hang
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target o…
cs.RO2022
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…