Zobrazeno 1 - 10
of 34
pro vyhledávání: '"Holladay, Rachel"'
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must reason over
Externí odkaz:
http://arxiv.org/abs/2208.00319
Multi-stage forceful manipulation tasks, such as twisting a nut on a bolt, require reasoning over interlocking constraints over discrete as well as continuous choices. The robot must choose a sequence of discrete actions, or strategy, such as whether
Externí odkaz:
http://arxiv.org/abs/2101.02679
Autor:
Garrett, Caelan Reed, Chitnis, Rohan, Holladay, Rachel, Kim, Beomjoon, Silver, Tom, Kaelbling, Leslie Pack, Lozano-Pérez, Tomás
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning (TAMP). TAMP p
Externí odkaz:
http://arxiv.org/abs/2010.01083
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the horizontal pl
Externí odkaz:
http://arxiv.org/abs/1810.00219
We present an anytime algorithm that generates a collision-free configuration-space path that closely follows a desired path in task space, according to the discrete Frechet distance. By leveraging tools from computational geometry, we approximate th
Externí odkaz:
http://arxiv.org/abs/1710.06738
Autor:
Zeng, Andy, Song, Shuran, Yu, Kuan-Ting, Donlon, Elliott, Hogan, Francois R., Bauza, Maria, Ma, Daolin, Taylor, Orion, Liu, Melody, Romo, Eudald, Fazeli, Nima, Alet, Ferran, Dafle, Nikhil Chavan, Holladay, Rachel, Morona, Isabella, Nair, Prem Qu, Green, Druck, Taylor, Ian, Liu, Weber, Funkhouser, Thomas, Rodriguez, Alberto
This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories without nee
Externí odkaz:
http://arxiv.org/abs/1710.01330
We pioneer a new future in robotic dust collection by introducing passive dust-collecting robots that, unlike their predecessors, do not require locomotion to collect dust. While previous research has exclusively focused on active dust-collecting rob
Externí odkaz:
http://arxiv.org/abs/1703.08736
Akademický článek
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Akademický článek
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Autor:
Holladay, Rachel1 (AUTHOR) rhollada@mit.edu, Lozano-Pérez, Tomás1 (AUTHOR), Rodriguez, Alberto2 (AUTHOR)
Publikováno v:
International Journal of Robotics Research. Mar2024, Vol. 43 Issue 3, p330-353. 24p.
