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http://dx.doi.org/10.7746/jkros.2019.14.2.104

Task and Motion Planning for Grasping Obstructed Object in Cluttered Environment  

Lee, Seokjun (Computer Science, Kyonggi University)
Kim, Incheol (Computer Science, Kyonggi University)
Publication Information
The Journal of Korea Robotics Society / v.14, no.2, 2019 , pp. 104-113 More about this Journal
Abstract
Object manipulation in cluttered environments remains an open hard problem. In cluttered environments, grasping objects often fails for various reasons. This paper proposes a novel task and motion planning scheme to grasp objects obstructed by other objects in cluttered environments. Task and motion planning (TAMP) aims to generate a sequence of task-level actions where its feasibility is verified in the motion space. The proposed scheme contains an open-loop consisting of three distinct phases: 1) Generation of a task-level skeleton plan with pose references, 2) Instantiation of pose references by motion-level search, and 3) Re-planning task based on the updated state description. By conducting experiments with simulated robots, we show the high efficiency of our scheme.
Keywords
Object Manipulation; Task and Motion Planning; Grasping Obstructed Objects;
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