Stable pushing: mechanics, controllability, and planning
International Journal of Robotics Research
Real-time inverse kinematics techniques for anthropomorphic limbs
Graphical Models and Image Processing
Mechanics of robotic manipulation
Mechanics of robotic manipulation
Robot Motion Planning
A Tutorial on Support Vector Machines for Pattern Recognition
Data Mining and Knowledge Discovery
Neural Networks: A Comprehensive Foundation (3rd Edition)
Neural Networks: A Comprehensive Foundation (3rd Edition)
Pivoting based manipulation by a humanoid robot
Autonomous Robots
Randomized multi-modal motion planning for a humanoid robot manipulation task
International Journal of Robotics Research
IEEE Transactions on Robotics
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In manipulation tasks that require object acquisition, pre-grasp interaction such as sliding adjusts the object in the environment before grasping. This change in object placement can improve grasping success by making desired grasps reachable. However, the additional sliding action prior to grasping introduces more complexity to the motion planning process, since the hand pose relative to the object does not need to remain fixed during the pre-grasp interaction. Furthermore, anthropomorphic hands in humanoid robots have several degrees of freedom that could be utilized to improve the object interaction beyond a fixed grasp shape. We present a framework for synthesizing pre-grasp interactions for high-dimensional anthropomorphic manipulators. The motion planning is tractable because information from pre-grasp manipulation examples reduces the search space to promising hand poses and shapes. In particular, we show the value of organizing the example data according to object category templates. The template information focuses the search based on the object features, resulting in increased success of adapting a template pose and decreased planning time.