Archive for the ‘Geometric Rearrangement’ 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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