论文标题
pokerrt：作为平面非划痕操纵的技巧和失败恢复策略
PokeRRT: Poking as a Skill and Failure Recovery Tactic for Planar Non-Prehensile Manipulation
论文作者
论文摘要
在这项工作中，我们介绍了Pokerrt，这是一种新型的运动计划算法，该算法证明了戳记是一种有效的非划和操纵技巧，可快速操纵物体并增加机器人可及的工作空间的大小。我们将戳戳作为一种失败恢复策略，与拾取和地相协同使用，以弹性，在挑选最初失败或无法实现的情况下。我们的实验证明了所提出的框架在未整理和混乱的环境中使用戳戳操纵来规划对象轨迹的效率。除了定量和定性地证明了Pokerrt对模拟和现实世界中不同方案的适应性外，我们的结果还表明，在成功率和任务时间方面，戳戳和抓住的优点。
In this work, we introduce 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. We showcase poking as a failure recovery tactic used synergistically with pick-and-place for resiliency in cases where pick-and-place initially fails or is unachievable. Our experiments demonstrate the efficiency of the proposed framework in planning object trajectories using poking manipulation in uncluttered and cluttered environments. In addition to quantitatively and qualitatively demonstrating the adaptability of PokeRRT to different scenarios in both simulation and real-world settings, our results show the advantages of poking over pushing and grasping in terms of success rate and task time.
