Mechanical Search on Shelves using a Novel “Bluction” Tool
Huang Huang,Michael Danielczuk,Chung Min Kim,Letian Fu,Zachary Tam,Jeffrey Ichnowski,Anelia Angelova,Brian Ichter,Ken Goldberg,Huang Huang,Michael Danielczuk,Chung Min Kim,Letian Fu,Zachary Tam,Jeffrey Ichnowski,Anelia Angelova,Brian Ichter,Ken Goldberg
Shelves are common in homes, warehouses, and commercial settings due to their storage efficiency. However, this efficiency comes at the cost of reduced visibility and accessibility. When looking from a side (lateral) view of a shelf, most objects will be fully occluded, resulting in a constrained lateral-access mechanical search problem. To address this problem, we introduce: (1) a novel bluction ...
