Multi-Object Grasping in the Plane

@article{Agboh2022MultiObjectGI,
  title={Multi-Object Grasping in the Plane},
  author={Wisdom C. Agboh and Jeffrey Ichnowski and Ken Goldberg and Mehmet Remzi Dogar},
  journal={ArXiv},
  year={2022},
  volume={abs/2206.00229}
}
. We consider a novel problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface visible from an overhead camera. The objective is to efficiently grasp and transport all objects into a bin using multi-object push-grasps, where multiple objects are pushed together to facilitate multi-object grasping. We provide necessary conditions for frictionless multi-object push-grasps and apply these to filter inadmissible grasps in a novel… 

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