Hierarchical planning for multi-contact non-prehensile manipulation
Name
933225066-MIT.pdf
Description
Full printable version
Size
1.96 MB
Format
Adobe PDF
Checksum (MD5)
02e488465bdf0df4d66c75d13bbd53cf
Author(s)
Lee, Gilwoo
Advisor(s)
Tomás Lozano-Pérez and Leslie Pack Kaelbling.
Date Issued
2015
Publisher
Massachusetts Institute of Technology
Abstract
Manipulation planning involves planning the combined motion of objects in the environment as well as the robot motions to achieve them. Ideally, we would like to be able to plan prehensile and non-prehensile manipulation in an integrated fashion, but despite much progress in planning motions in the robot's configuration space in the presence of obstacles, progress in general manipulation planning has been more limited. The manipulation planning problem has a number of complicating factors, including the large dimensionality of the combined space. In this thesis, we explore a hierarchical approach to planning sequences of non-prehensile and prehensile actions. We subdivide the planning problem in three stages (object contacts, object poses and robot contacts) and thereby reduce the size of search space that is explored. We show that this approach is more efficient than earlier strategies that search in the combined robot-object configuration space directly.
Description
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2015.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 34-35).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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