Robot Task and Motion Planning (TAMP) algorithms enable autonomous operation by incorporating the specific functions and constraints of end-effector tools, such as grippers or soldering irons, directly into the planning process. In this paper, we explore sampling-based TAMP algorithms specifically designed for a critical subset of devices whose unique properties make traditional planning methods ineffective. Visibility-based instruments, such as exteroceptive sensors, cameras, flashlights and directional antennas, are essential across a vast array of human activities. The unique properties of these devices, and particularly, their field-of-view, render many widely used heuristics and distance metrics less effective. We introduce two new sampling-based algorithms, FOV-PRM and FOV-RRT, designed to tackle visibility-based tasks. FOV-PRM employs a hierarchical decomposition of the environment, leveraging the concept of visibility integrity, to efficiently sample configurations with a clear line-of-sight to the target. A specialized Inverse Kinematics solver enables FOV-RRT to"glance"in the direction of the target at opportune moments, facilitating the rapid discovery of key configurations. We show that FOV-PRM and FOV-RRT achieve a higher success rate and faster runtimes compared to adaptations of RRT, PRM and VIR, through both simulated and physical experiments.
Stav Ashur, A. Sintov· IEEE Robotics and Automation...· 0 citations
Robotic hands offer advanced manipulation capabilities, but their complexity and cost often limit their real-world applications. In contrast, simple parallel grippers, although affordable, are restricted to basic tasks like pick-and-place. Recently, a vibration-based mechanism was proposed to augment parallel grippers and enable in-hand manipulation capabilities for thin objects. Utilizing the stick-slip phenomenon, a simple controller successfully drove a grasped object to a desired position. However, the underactuated nature of the mechanism prevented direct control of the object's orientation. In this paper, we address the manipulation challenge of reconfiguring the object's position and orientation. Hence, we present the excitation of a cyclic phenomenon in which the object's center of mass rotates with a constant radius about the grasping point. Using this cyclic motion, we propose a strategy to manipulate the object to a desired configuration. Alongside an analytical study of the cyclic phenomenon, we propose using duty cycle modulation to operate the vibration actuator for more accurate manipulation. The proposed strategy is validated through finite element analysis, physical experiments and task-specific demonstrations.
Oron Binyamin, Guy Shapira, A. Sintov· 2026 IEEE/ASME International...· 0 citations