2022/02/09 by Anuj Pasricha, Yi-Shiuan Tung, Pasricha, Anuj +5
Computer Science · Engineering · #FOS: Computer and information sciences #Multimodal Machine Learning Applications #Robot Manipulation and Learning #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2203.04761
openalex publication_date 2022/02/09 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This work introduces 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. Our qualitative and quantitative results demonstrate the advantages of poking over pushing and grasping in planning object trajectories through uncluttered and cluttered environments.