H-MaP: An Iterative and Hybrid Sequential Manipulation Planner
<|reference_start|>H-MaP: An Iterative and Hybrid Sequential Manipulation Planner: This study introduces the Hybrid Sequential Manipulation Planner (H-MaP), a novel approach that iteratively does motion planning using contact points and waypoints for complex sequential manipulation tasks in robotics. Combining optimization-based methods for generalizability and sampling-based methods for robustness, H-MaP enhances manipulation planning through active contact mode switches and enables interactions with auxiliary objects and tools. This framework, validated by a series of diverse physical manipulation tasks and real-robot experiments, offers a scalable and adaptable solution for complex real-world applications in robotic manipulation.<|reference_end|>
@article{cicek2024h-map:,
    title={H-MaP: An Iterative and Hybrid Sequential Manipulation Planner},
    author={Berk Cicek, Arda Sarp Yenicesu, Cankut Bora Tuncer, Kutay Demiray and
  Ozgur S. Oguz},
    journal={arXiv preprint arXiv:2403.10436},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.10436},
    primaryClass={cs.RO}
}