4 papers
Planning for Multi-stage Forceful Manipulation
Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez
Multi-stage forceful manipulation tasks, such as twisting a nut on a bolt, require reasoning over interlocking constraints over discrete as well as continuous choices. The robot mu…
Integrated Task and Motion Planning
Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay +4
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the sta…
In-Hand Manipulation via Motion Cones
Nikhil Chavan-Dafle, Rachel Holladay, Alberto Rodriguez
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previousl…
A New Paradigm for Robotic Dust Collection: Theorems, User Studies, and a Field Study
Rachel M. Holladay, Siddhartha S. Srinivasa
We pioneer a new future in robotic dust collection by introducing passive dust-collecting robots that, unlike their predecessors, do not require locomotion to collect dust. While p…