Object Manipulation under Hybrid Active/Passive Closure

Object Closure and Manipulation by Multiple Cooperating Mobile Robots

We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. In contrast to Form or Force Closure, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the r...

A ”Hybrid” Personalized Model for Collaborative Human-Robot Object Manipulation

This work proposes a hybrid Markov Decision Process (MDP) based approach for planning and decisionmaking in finite horizon, complex collaborative human-robot object manipulation tasks. The approach is hybrid in the sense that the full model state-space is defined by an object-centered rule-base, while the model parameters are trained using an apprenticeship learning approach, i.e., observing hu...

Hybrid Reasoning for Mobile Manipulation based on Object Knowledge

Autonomous mobile manipulation in every day environments is a key feature for next generation service robots. However, the diversity of problems that need to be solved by a robot is vast. Detailed knowledge about the environment, surrounding objects, and handling instructions is required. In this paper we combine object-centered hybrid reasoning with reachability analysis for autonomous spatial...

Object Closure Conversion

An integral part of implementing functional languages is closure conversion—the process of converting code with free variables into closed code and auxiliary data structures. Closure conversion has been extensively studied in this context, but also arises in languages with first-class objects. In fact, one variant of Java’s inner classes are an example of objects that need to be closure convert...

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