论文标题
Pokerrt：一种用于操纵的动力学计划方法
PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation
论文作者
论文摘要
这项工作介绍了Pokerrt，这是一种新型的运动计划算法，该算法证明了戳记是一种有效的非划理操作技巧，可快速操纵物体并增加机器人可及的工作空间的大小。我们的定性和定量结果证明了通过未整理和混乱的环境戳戳和抓住计划对象轨迹的优势。
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.
