Automated Planning Encodings for the Manipulation of Articulated Objects in 3D with Gravity

Riccardo Bertolucci, Alessio Capitanelli, Marco Maratea, Fulvio Mastrogiovanni, Mauro Vallati

Abstract: The manipulation of articulated objects plays an important role in real-world robot tasks, both in home and industrial environments. A lot of attention has been devoted to the development of ad hoc approaches and algorithms for generating the sequence of movements the robot has to perform in order to manipulate the object. Such approaches can hardly generalise on different settings, and are usually focused on 2D manipulations.