PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation
This addresses the problem of efficient non-prehensile manipulation for robotics, though it appears incremental as it builds on existing planning methods.
The paper tackled the problem of enabling fast manipulation and increasing a robot's reachable workspace by introducing PokeRRT, a motion planning algorithm for poking manipulation, with results showing advantages over pushing and grasping in both uncluttered and cluttered environments.
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.