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    Push Planning for Object Placement in Clutter Using the PR-2

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    emeliPr2Workshop.pdf (1.925Mb)
    Date
    2011-09
    Author
    Emeli, Victor
    Kemp, Charles C.
    Stilman, Mike
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    Abstract
    The goal of this project is to investigate the implementation of a planning algorithm for the problem of placing objects on a cluttered surface with a PR-2 mobile manipulator. The original push planning algorithm [1] was initially developed as a simulation. We modified the simulator for execution in real-world cluttered environments. This paper discusses the challenges of implementation and presents empirical results that determine how well the simulator models the real world as clutter is pushed and collides with other objects.
    URI
    http://hdl.handle.net/1853/44335
    Collections
    • Humanoid Robotics Laboratory [49]
    • Humanoid Robotics Laboratory Publications [49]

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