Algorithms and Systems for Manipulating Multiple Objects

doi:10.1109/TRO.2022.3197013

Algorithms and Systems for Manipulating Multiple Objects

2023-02-01

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DOI：10.1109/TRO.2022.3197013

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Abstract

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Robot manipulation of multiple objects is an important topic for applications including warehouse automation, service robots performing cleaning, and large-scale object sorting. Although problems can range in complexity from a few objects to large disordered piles, autonomy remains a significant technical challenge due to the high-dimensional joint configuration space of the robot and all objects, the complex dynamics of object interaction, and the ambiguity and occlusion caused by clutter. This article surveys a broad range of classical and state-of-the-art research in multiobject manipulation and categorizes them along the dimensions of tasks, perception, predictive models, and decision-making algorithms. It also covers emerging trends and open problems faced in the ongoing effort to realize robust multiobject manipulation systems in practice.

Keywords:

Robots

Task analysis

Robot kinematics

Prediction algorithms

Navigation

Grasping

Sorting

Manipulators

manufacturing automation

robot motion

robot vision systems

Algorithms and Systems for Manipulating Multiple Objects

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