Archive for the ‘Robotic Manipulation’ Category

Geometric Rearrangement of Multiple Moveable Objects on Cluttered Surfaces

Posted on September 17th, 2013

In this housekeeping scenario, we consider four moveable objects on a table: red box, gray rack, green tape and yellow tube. The goal is to swap the locations of the red box and the gray rack, utilizing the CoCoA service robot, which features a holonomic mobile base and two 7 degrees of freedom (DoF) arms with grippers. Dynamic simulation of the execution of sample plans are provided in the videos

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Robotic Manipulation

Posted on October 8th, 2011
Robotic Manipulation

The video demonstrates dynamic simulation of two Kuka youBots autonomously performing a complex manipulation task that requires collaboration of the robots. The underlying planning and monitoring framework tightly integrates causal reasoning with low-level geometric reasoning and motion planning as described in the following paper: “Combining High-Level Causal Reasoning with Low-Level Geometric Reasoning and Motion Planning for Robotic Manipulation” presented at IEEE ICRA 2011.

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