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arXiv · 2203.04761

PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation

Anuj Pasricha·Yi-Shiuan Tung·Bradley Hayes·Alessandro Roncone
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Abstract

This work introduces PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot's reachable workspace. Our qualitative and quantitative results demonstrate the advantages of poking over pushing and grasping in planning object trajectories through uncluttered and cluttered environments.

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Anuj Pasricha, Yi-Shiuan Tung, Bradley Hayes, Alessandro Roncone. 2022-02-09. PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation. https://arxiv.org/abs/2203.04761

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