Push planning for object placement on cluttered table surfaces

Akansel Cosgun; Tucker Hermans; Victor Emeli; Mike Stilman

doi:10.1109/IROS.2011.6048343

Push planning for object placement on cluttered table surfaces

Akansel Cosgun, Tucker Hermans, Victor Emeli, Mike Stilman

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

62 Citations (Scopus)

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
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	https://doi.org/10.1109/IROS.2011.6048343
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

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems 2011
Abbreviated title	IROS 2011
Country/Territory	United States of America
City	San Francisco
Period	25/09/11 → 30/09/11
Internet address	https://ieeexplore.ieee.org/xpl/conhome/6034548/proceeding (Proceedings)

Access to Document

10.1109/IROS.2011.6048343

Cite this

Cosgun, A., Hermans, T., Emeli, V., & Stilman, M. (2011). Push planning for object placement on cluttered table surfaces. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 4627-4632). [6048343] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048343

@inproceedings{ace21558af984f39aadd8938ce6d87aa,

title = "Push planning for object placement on cluttered table surfaces",

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.",

author = "Akansel Cosgun and Tucker Hermans and Victor Emeli and Mike Stilman",

year = "2011",

month = dec,

day = "29",

doi = "10.1109/IROS.2011.6048343",

language = "English",

isbn = "9781612844541",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "4627--4632",

booktitle = "IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems 2011, IROS 2011 ; Conference date: 25-09-2011 Through 30-09-2011",

url = "https://ieeexplore.ieee.org/xpl/conhome/6034548/proceeding",

}

Cosgun, A, Hermans, T, Emeli, V & Stilman, M 2011, Push planning for object placement on cluttered table surfaces. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048343, IEEE International Conference on Intelligent Robots and Systems, pp. 4627-4632, IEEE/RSJ International Conference on Intelligent Robots and Systems 2011, San Francisco, California, United States of America, 25/09/11. https://doi.org/10.1109/IROS.2011.6048343

Push planning for object placement on cluttered table surfaces. / Cosgun, Akansel; Hermans, Tucker; Emeli, Victor; Stilman, Mike.

IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 4627-4632 6048343 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

TY - GEN

T1 - Push planning for object placement on cluttered table surfaces

AU - Cosgun, Akansel

AU - Hermans, Tucker

AU - Emeli, Victor

AU - Stilman, Mike

PY - 2011/12/29

Y1 - 2011/12/29

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84455200400&partnerID=8YFLogxK

U2 - 10.1109/IROS.2011.6048343

DO - 10.1109/IROS.2011.6048343

M3 - Conference Paper

AN - SCOPUS:84455200400

SN - 9781612844541

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 4627

EP - 4632

BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems 2011

Y2 - 25 September 2011 through 30 September 2011

ER -

Push planning for object placement on cluttered table surfaces

Abstract

Publication series

Conference

Access to Document

Other files and links

Cite this