We present a hierarchical planning system and its application to robotic manipulation. The novel features of the system are: 1) it finds high-quality kinematic solutions to task-l...
Many practical dextrous manipulation tasks involve large-scale motion of the grasped object while maintaining a stable grasp. To plan such tasks, one must control both the motion ...
Standing is a fundamental skill mastered by humans and animals alike. Although easy for adults, it requires careful and deliberate manipulation of contact forces. The variation in...
—We formulate and address the problem of planning a pushing manipulation by a mobile robot which tries to rearrange several movable objects in its work space. We present an algor...
Abstract— This paper presents a randomized manipulation planner for a multi-fingered hand by switching contact modes. Manipulation planning for such a system should consider cha...