Push planning for object placement on cluttered table surfaces

Akansel Cosgun, Tucker Hermans, Victor Emeli, Mike Stilman

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

52 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 languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages4627-4632
Number of pages6
DOIs
Publication statusPublished - 29 Dec 2011
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2011 - San Francisco, United States of America
Duration: 25 Sep 201130 Sep 2011
https://ieeexplore.ieee.org/xpl/conhome/6034548/proceeding (Proceedings)

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2011
Abbreviated titleIROS 2011
CountryUnited States of America
CitySan Francisco
Period25/09/1130/09/11
Internet address

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