Bilkent University
Department of Computer Engineering

---

CS 590/690 SEMINAR

 

Hybrid and Iterative Approach for Sequential Manipulation Planning

 

Berk Çiçek
Master Student
(Supervisor: Asst.Prof.Özgür Salih Öğüz)
Computer Engineering Department
Bilkent University

Abstract: In this presentation, we introduce the Hybrid Sequential Manipulation Planner (H-MaP), a novel approach that iteratively does optimization-based motion planning using contact points and waypoints for complex sequential manipulation tasks in robotics. Combining optimization-based methods for generalizability and sampling-based methods for robustness, H-MaP enhances manipulation planning through active contact mode switches and interactions with auxiliary objects and tools. This framework, validated by a series of diverse physical manipulation tasks and real-robot experiments, offers a scalable and adaptable solution for complex real-world applications in robotic manipulation.

 

DATE: March 11, Monday @ 13:30 Place: EA 502