Rizwan
Rizwan Asif I am a technopreneur exploring the field of artificial intelligence to build the next big thing in tech. My vision for the world is to reduce human capital for low level system tasks and put humans in the higher decision making positions. We are not meant to sort stamp papers, we will give up that task to create something beautiful. 1 min read

Placing Objects with prior In-Hand Manipulation using Dexterous Manipulation Graphs

Authors: Joshua A. Haustein, Silvia Cruciani, Rizwan Asif, Kaiyu Hang, Danica Kragic

Citation: http://kth.diva-portal.org/smash/record.jsf?pid=diva2%3A1363055&dswid=3099

We address the problem of planning the placement of a grasped object with a robot manipulator. More specifically, the robot is tasked to place the grasped object such that a placement preference function is maximized. For this, we present an approach that uses in-hand manipulation to adjust the robot’s initial grasp to extend the set of reachable placements. Given an initial grasp, the algorithm computes a set of grasps that can be reached by pushing and rotating the object in-hand. With this set of reachable grasps, it then searches for a stable placement that maximizes the preference function. If successful it returns a sequence of in-hand pushes to adjust the initial grasp to a more advantageous grasp together with a transport motion that carries the object to the placement. We evaluate our algorithm’s performance on various placing scenarios, and observe its effectiveness also in challenging scenes containing many obstacles. Our experiments demonstrate that re-grasping with in-hand manipulation increases the quality of placements the robot can reach. In particular, it enables the algorithm to find solutions in situations where safe placing with the initial grasp wouldn't be possible.

Rizwan
Rizwan Asif I am a technopreneur exploring the field of artificial intelligence to build the next big thing in tech. My vision for the world is to reduce human capital for low level system tasks and put humans in the higher decision making positions. We are not meant to sort stamp papers, we will give up that task to create something beautiful. 1 min read

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