Mechanical Search on Shelves using Lateral Access X-RAY
Huang Huang,Marcus Dominguez-Kuhne,Vishal Satish,Michael Danielczuk,Kate Sanders,Jeffrey Ichnowski,Andrew Lee,Anelia Angelova,Vincent Vanhoucke,Ken Goldberg,Huang Huang,Marcus Dominguez-Kuhne,Vishal Satish,Michael Danielczuk,Kate Sanders,Jeffrey Ichnowski,Andrew Lee,Anelia Angelova,Vincent Vanhoucke,Ken Goldberg
Finding an occluded object in a lateral access environment such as a shelf or cabinet is a problem that arises in many contexts such as warehouses, retail, healthcare, shipping, and homes. While this problem, known as mechanical search, is well-studied in overhead access environments, lateral access environments introduce constraints on the poses of objects and on available grasp actions, and push...
