Grasp Planning for Occluded Objects in a Confined Space with Lateral View Using Monte Carlo Tree Search
Minjae Kang,Hogun Kee,Junseok Kim,Songhwai Oh,Minjae Kang,Hogun Kee,Junseok Kim,Songhwai Oh
In the lateral access environment, the robot be-havior should be planned considering surrounding objects and obstacles because object observation directions and approach angles are limited. To safely retrieve a partially occluded target object in these environments, we have to relocate objects using prehensile actions to create a collision-free path for the target. We propose a learning-based meth...
