Grasping and Transport of Unstructured Collections of Massive Objects
Published in Field Robotics, 2022
J. Bowkett, S. Karumanchi, and R. Detry
Download paper / View at Field Robotics (DOI: 10.1002/rob.22080)
Autonomous grasping and manipulation of previously unseen, heavy, and entangled objects within unorganized clutter is a critical capability for field and industrial robots. This paper presents an integrated perception-guided and force-reactive manipulation system deployed on the tracked RoMan platform. The system leverages RGB-D segmentation, heuristic-free geometric grasp synthesis, and active wrench-reactive pose compliance to safely singulate and extract heavy debris without prior geometric models.
Recommended citation: Bowkett J., Karumanchi S., Detry R. “Grasping and Transport of Unstructured Collections of Massive Objects.” Field Robotics, 2022. DOI: 10.1002/rob.22080.