Persistent Homology for Effective Non-Prehensile Manipulation
Ewerton R. Vieira,Daniel Nakhimovich,Kai Gao,Rui Wang,Jingjin Yu,Kostas E. Bekris,Ewerton R. Vieira,Daniel Nakhimovich,Kai Gao,Rui Wang,Jingjin Yu,Kostas E. Bekris
This work explores the use of topological tools for achieving effective non-prehensile manipulation in cluttered, constrained workspaces. In particular, it proposes the use of persistent homology as a guiding principle in identifying the appropriate non-prehensile actions, such as pushing, to clean a cluttered space with a robotic arm so as to allow the retrieval of a target object. Persistent hom...
