H-MaP: An Iterative and Hybrid Sequential Manipulation Planner

Abstract-- 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 samplingbased 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. I. INTRODUCTION Sequential manipulation is crucial since it enables robots to complete complex tasks by executing a series of actions, allowing them to handle multi-step processes. However, sequential manipulation is challenging for robots.