Imagine you want to carry a large, heavy box up a flight of stairs. You might spread your fingers out and lift that box with both hands, then hold it on top of your forearms and balance it against your chest, using your whole body to manipulate the box.
Humans are generally good at whole-body manipulation, but robots struggle with such tasks. To the robot, each spot where the box could touch any point on the carrier’s fingers, arms, and torso represents a contact event that it must reason about. With billions of potential contact events, planning for this task quickly becomes intractable.
Now MIT researchers found a way to simplify this process, known as contact-rich manipulation planning. They use an AI technique called smoothing, which summarizes many contact events into a smaller number of decisions, to enable even a simple algorithm to quickly identify an effective manipulation plan for the robot.
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