Manipulation Planning with Probabilistic Roadmaps  

Oleh:

Siméon, Thierry ; Laumond, Jean-Paul ; Cortés, Juan ; Sahbani, Anis

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 23 no. 7-8 (Jul. 2004), page 729-746.
Topik: manipulation task planning; path planning; probabilistic roadmaps
Fulltext: 729.pdf (694.52KB)

Isi artikel

This paper deals with motion planning for robots manipulating movable objects among obstacles. We propose a general manipulation planning approach capable of addressing continuous sets for modeling both the possible grasps and the stable placements of the movable object, rather than discrete sets generally assumed by the previous approaches. The proposed algorithm relies on a topological property that characterizes the existence of solutions in the subspace of configurations where the robot grasps the object placed at a stable position. It allows us to devise a manipulation planner that captures in a probabilistic roadmap the connectivity of sub-dimensional manifolds of the composite configuration space. Experiments conducted with the planner in simulated environments demonstrate its efficacy to solve complex manipulation problems.

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