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cs.RO2022
PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation
Anuj Pasricha, Yi-Shiuan Tung, Bradley Hayes +1
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 an…
cs.RO2022
PokeRRT: Poking as a Skill and Failure Recovery Tactic for Planar Non-Prehensile Manipulation
Anuj Pasricha, Yi-Shiuan Tung, Bradley Hayes +1
In this work, we introduce PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of obje…