Abstract
We present a novel planning algorithm for the problem of placing objects on a cluttered surface such as a table, counter or floor. The planner (1) selects a placement for the target object and (2) constructs a sequence of manipulation actions that create space for the object. When no continuous space is large enough for direct placement, the planner leverages means-end analysis and dynamic simulation to find a sequence of linear pushes that clears the necessary space. Our heuristic for determining candidate placement poses for the target object is used to guide the manipulation search. We show successful results for our algorithm in simulation.
Original language | English |
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Title of host publication | IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems |
Subtitle of host publication | Celebrating 50 Years of Robotics |
Pages | 4627-4632 |
Number of pages | 6 |
DOIs | |
Publication status | Published - 29 Dec 2011 |
Externally published | Yes |
Event | IEEE/RSJ International Conference on Intelligent Robots and Systems 2011 - San Francisco, United States of America Duration: 25 Sep 2011 → 30 Sep 2011 https://ieeexplore.ieee.org/xpl/conhome/6034548/proceeding (Proceedings) |
Publication series
Name | IEEE International Conference on Intelligent Robots and Systems |
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Conference
Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems 2011 |
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Abbreviated title | IROS 2011 |
Country/Territory | United States of America |
City | San Francisco |
Period | 25/09/11 → 30/09/11 |
Internet address |