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Multi-Step Planning for Robotic Manipulation of Articulated Objects

Multi-step planning is a process that allows us to solve complex problems by using a hybrid of a continuous kinematic planner and discrete search algorithm. In this paper we demonstrate how to formulate practical robotic manipulation tasks into this planning framework by applying the approach to that of a robot planning to fold a typical folding chair. We believe that this planning approach could have wide applications in allowing robots to perform tasks with more generalized and intuitive goal conditions.