Zobrazeno 1 - 8
of 8
pro vyhledávání: '"Rachel Holladay"'
Publikováno v:
Sage
In this article, 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
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e412ceacc1d357606a773037f49b75dd
https://doi.org/10.1177/0278364919880257
https://doi.org/10.1177/0278364919880257
Publikováno v:
ICRA
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:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b01affbf55ae56a5133dfa2b8e759109
https://doi.org/10.1109/icra48506.2021.9561233
https://doi.org/10.1109/icra48506.2021.9561233
Autor:
Rachel Holladay, Beomjoon Kim, Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Rohan Chitnis, Tom Silver
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:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::09b53ee732edec44681e3807d1e60114
Publikováno v:
IROS
MIT web domain
MIT web domain
© 2019 IEEE. The use of hand tools presents a challenge for robot manipulation in part because it calls for motions requiring continuous force application over a whole trajectory, usually involving large joint-angle excursions. The feasible applicat
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a5b12af9afd2acc97d1981928f63a1ce
https://doi.org/10.1109/iros40897.2019.8967889
https://doi.org/10.1109/iros40897.2019.8967889
Publikováno v:
Autonomous Robots. 39:331-345
Much robotics research explores how robots can clearly communicate true information. Here, we focus on the counterpart: communicating false information, or hiding information altogether--in one word, deception. Robot deception is useful in conveying
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::d681cd835d68fadeabbd6e57067f87e9
https://doi.org/10.1007/s10514-015-9458-8
https://doi.org/10.1007/s10514-015-9458-8
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:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5b65f74c5505818218c6f8a8a89e387b
Publikováno v:
IROS
We propose a method for generating a configuration space path that closely follows a desired task space path despite the presence of obstacles. We formalize closeness via two path metrics based on the discrete Hausdorff and Frechet distances. Armed w
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c8528b89591372476993e1153c051247
https://doi.org/10.1109/iros.2016.7759814
https://doi.org/10.1109/iros.2016.7759814
Publikováno v:
RO-MAN
Good communication is critical to seamless human-robot interaction. Among numerous communication channels, here we focus on gestures, and in particular on spacial deixis: pointing at objects in the environment in order to reference them. We propose a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::89e20b775a41cbf029a5055866dec371
https://doi.org/10.1109/roman.2014.6926256
https://doi.org/10.1109/roman.2014.6926256