Manipulation Planning under Changing External Forces

Understand

In this work, we present a manipulation planning algorithm for a robot to keep an object stable under changing external forces.

• We particularly focus on the case where a human may be applying forceful operations, e.g.
• cutting or drilling, on an object that the robot is holding.
• The planner produces an efficient plan by intelligently deciding when the robot should change its grasp on the object as the human applies the forces.