Paper ID: 2203.04761

PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation

Anuj Pasricha, Yi-Shiuan Tung, Bradley Hayes, Alessandro Roncone

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.

Submitted: Feb 9, 2022