Planning grasps with suction cups and parallel grippers using superimposed segmentation of object meshes

W Wan, K Harada, F Kanehiro - IEEE Transactions on Robotics, 2020 - ieeexplore.ieee.org
This article develops model-based grasp planning algorithms. It focuses on industrial end-
effectors like grippers and suction cups, and plans grasp configurations considering …

Reorientbot: Learning object reorientation for specific-posed placement

K Wada, S James, AJ Davison - 2022 International Conference …, 2022 - ieeexplore.ieee.org
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the
world and achieve various valuable tasks. Object reorientation plays a crucial role in this as …

Robotic pick-and-place with uncertain object instance segmentation and shape completion

M Gualtieri, R Platt - IEEE robotics and automation letters, 2021 - ieeexplore.ieee.org
We consider robotic pick-and-place of partially visible, novel objects, where goal placements
are non-trivial, eg, tightly packed into a bin. One approach is (a) use object instance …

Human-in-the-loop robotic manipulation planning for collaborative assembly

M Raessa, JCY Chen, W Wan… - IEEE Transactions on …, 2020 - ieeexplore.ieee.org
This article develops a robotic manipulation planner for human-robot collaborative
assembly. Unlike previous methods that study an independent and fully artificial intelligent …

Robot packing with known items and nondeterministic arrival order

F Wang, K Hauser - IEEE Transactions on Automation Science …, 2020 - ieeexplore.ieee.org
This article formulates two variants of packing problems in which the set of items is known,
but the arrival order is unknown. The goal is to certify that the items can be packed in a given …

A multi-level optimization framework for simultaneous grasping and motion planning

S Zimmermann, G Hakimifard, M Zamora… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
We present an optimization framework for grasp and motion planning in the context of
robotic assembly. Typically, grasping locations are provided by higher level planners or as …

Object placement planning and optimization for robot manipulators

JA Haustein, K Hang, J Stork… - 2019 IEEE/RSJ …, 2019 - ieeexplore.ieee.org
We address the problem of planning the placement of a rigid object with a dual-arm robot in
a cluttered environment. In this task, we need to locate a collision-free pose for the object …

Manipulation planning for object re-orientation based on semantic segmentation keypoint detection

CC Wong, LY Yeh, CC Liu, CY Tsai, H Aoyama - Sensors, 2021 - mdpi.com
In this paper, a manipulation planning method for object re-orientation based on semantic
segmentation keypoint detection is proposed for robot manipulator which is able to detect …

Planning to minimize the human muscular effort during forceful human-robot collaboration

LFC Figueredo, RDC Aguiar, L Chen… - ACM Transactions on …, 2021 - dl.acm.org
This work addresses the problem of planning a robot configuration and grasp to position a
shared object during forceful human-robot collaboration, such as a puncturing or a cutting …

Learning to regrasp by learning to place

S Cheng, K Mo, L Shao - arXiv preprint arXiv:2109.08817, 2021 - arxiv.org
In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to
achieve various desired grasp poses. Regrasping is needed whenever a robot's current …