A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories

Bernardo Aceituno,Alberto Rodriguez,Bernardo Aceituno,Alberto Rodriguez

Given an object, an environment, and a goal pose, how should a robot make contact to move it? Solving this problem requires reasoning about rigid-body dynamics, object and environment geometries, and hybrid contact mechanics. This paper proposes a hierarchical framework that solves this problem in 2D worlds, with polygonal objects and point fingers. To achieve this, we decouple the problem in thre...