A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories
Name
2022-IROS-Object and Contact Trajectory-final.pdf
Description
Accepted version
Size
910.02 KB
Format
Adobe PDF
Checksum (MD5)
a6d0ee42d3283eb82046b7e983d1a3b4
Author(s)
Aceituno, Bernardo
Rodriguez, Alberto
Date Issued
October 23, 2022
Publisher
IEEE|2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Citation
Aceituno, Bernardo and Rodriguez, Alberto. 2022. "A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories."
Version
Author's final manuscript
Abstract
Given an object, an environment, and a goal pose, how should a robot make contact to move it? Solving this problem requires reasoning about rigid-body dynamics, object and environment geometries, and hybrid contact mechanics. This paper proposes a hierarchical framework that solves this problem in 2D worlds, with polygonal objects and point fingers. To achieve this, we decouple the problem in three stages: 1) a high-level graph search over regions of free-space, 2) a medium-level randomized motion planner for the object motion, and 3) a low-level contact-trajectory optimization for the robot and environment contacts. In contrast to the state of the art, this approach does not rely on handcrafted primitives and can still be solved efficiently. This algorithm does not require seeding and can be applied to complex object shapes and environments. We validate this framework with extensive simulated experiments showcasing long-horizon and contact-rich interactions. We demonstrate how our algorithm can reliably solve complex planar manipulation problems in the order of seconds.
Description
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 23-27, 2022, Kyoto, Japan
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-ShareAlike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/iros47612.2022.9981862
