— A planning method for knotting/unknotting and tightening manipulation of deformable linear objects is proposed. It is important for linear object manipulation in industrial/med...
In this paper, the stability of objects in graspless manipulation (or nonprehensile manipulation) is investigated. In contrast with the stability of grasps, it is crucial for the ...
While most previous work in planning manipulation tasks relies on the assumption of quasi-static conditions, there can be situations where the quasi-static assumption may not hold...
We study how to find plans that maximize the expected total utility for a given MDP, a planning objective that is important for decision making in high-stakes domains. The optimal...