5 papers · 1 filter
Collision-Inclusive Manipulation Planning for Occluded Object Grasping via Compliant Robot Motions
Kejia Ren, Gaotian Wang, Andrew S. Morgan +1
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that ca…
Caging in Time: A Framework for Robust Object Manipulation under Uncertainties and Limited Robot Perception
Gaotian Wang, Kejia Ren, Andrew S. Morgan +1
Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based mani…
Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation
Kejia Ren, Gaotian Wang, Andrew S. Morgan +2
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from int…
UNO Push: Unified Nonprehensile Object Pushing via Non-Parametric Estimation and Model Predictive Control
Gaotian Wang, Kejia Ren, Kaiyu Hang
Nonprehensile manipulation through precise pushing is an essential skill that has been commonly challenged by perception and physical uncertainties, such as those associated with c…
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features
Howard H. Qian, Yangxiao Lu, Kejia Ren +4
In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other o…