JeongYong Jo

Efficient Target Singulation with Multi-fingered Gripper using Propositional Logic

When multiple tablewares are closely packed on a table, rearranging obstacles to make space is necessary to grasp the target, often called target singulation. Due to the nature of handling fragile tablewares (i.e. plates, bowls), we make a few assumptions for the target singulation problem. First, t…