Younghoon Park

Safe and Efficient Target Singulation with Multi-Fingered Gripper using Collision-Free Push-Stack Synergy

Target singulation involves a rearrangement of surrounding obstacles to create space for grasping the target. However, when objects are tightly packed in a confined workspace (i.e., a limited table boundary), it is not easy to relocate obstacles. Using non-prehensile manipulation, such as push, is s