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Tommaso Pardi

3 accepted papers

2020

Benchmarking Protocol for Grasp Planning Algorithms

Yasemin Bekiroglu, Naresh Marturi, Máximo A. Roa, Komlan Jean Maxime Adjigble, Tommaso Pardi, Cindy Grimm +3
RA-L 2020

Numerous grasp planning algorithms have been proposed since the 1980s. The grasping literature has expanded rapidly in recent years, building on greatly improved vision systems and computing power. Methods have been proposed to plan stable grasps on known objects (exact 3D model is available), famil

Cited by 44Source ↗Scholar ↗
2020

Path planning for mobile manipulator robots under non-holonomic and task constraints

Tommaso Pardi, Vamsikrishna Maddali, Valerio Ortenzi, Rustam Stolkin, Naresh Marturi
IROS 2020poster

This paper presents a path planner, which enables a nonholonomic mobile manipulator to move its end-effector on an observed surface with a constrained orientation, given start and destination points. A partial point cloud of the environment is captured using a vision-based sensor, but no prior knowl…

Cited by 21Source ↗Scholar ↗
2020

Planning Maximum-Manipulability Cutting Paths

Tommaso Pardi, Valerio Ortenzi, Colin Fairbairn, Tony Pipe, Amir Masoud Ghalamzan Esfahani, Rustam Stolkin
RA-L 2020

This letter presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape, but observes it from a noisy point cloud. We consider the mul

Cited by 23Source ↗Scholar ↗