Learning Pre-Grasp Manipulation of Flat Objects in Cluttered Environments using Sliding Primitives
Jiaxi Wu,Haoran Wu,Shanlin Zhong,Quqin Sun,Yinlin Li,Jiaxi Wu,Haoran Wu,Shanlin Zhong,Quqin Sun,Yinlin Li
Flat objects with negligible thicknesses like books and disks are challenging to be grasped by the robot because of the width limit of the robot's gripper, especially when they are in cluttered environments. Pre-grasp manipulation is conducive to rearranging objects on the table and moving the flat objects to the table edge, making them graspable. In this paper, we formulate this task as Parameter...
