(Georgia Institute of Technology, 2011-09)
Emeli, Victor; Kemp, Charles C.; Stilman, Mike
The goal of this project is to investigate the implementation
of a planning algorithm for the problem of placing objects
on a cluttered surface with a PR-2 mobile manipulator. The
original push planning algorithm [1] was initially developed
as a simulation. We modified the simulator for execution in
real-world cluttered environments. This paper discusses the
challenges of implementation and presents empirical results
that determine how well the simulator models the real world
as clutter is pushed and collides with other objects.
(Georgia Institute of Technology, 2011-09)
Cosgun, Akansel; Hermans, Tucker; Emeli, Victor; Stilman, Mike
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.