Manipulation with diverse actions
Name
861700257-MIT.pdf
Description
Full printable version
Size
21.78 MB
Format
Adobe PDF
Checksum (MD5)
529e3713d06edda58a6db4b1d5d110f2
Author(s)
Barry, Jennifer L. (Jennifer Lynn)
Advisor(s)
Leslie Pack Kaelbling and Tomás Lozano-Pérez.
Date Issued
2013
Publisher
Massachusetts Institute of Technology
Abstract
We define the Diverse Action Manipulation (DAMA) problem in which we are given a mobile robot, a set of movable objects, and a set of diverse, possibly non-prehensile manipulation actions, and the objective is to find a sequence of actions that moves each of the objects to a goal configuration. We argue that classic sampling-based techniques cannot solve DAMA problems because of the need to move through lower-dimensional subspaces, and we give two sampling-based algorithms for this problem, DARRT and DARRTCONNECT, based on the RRT and RRTCONNECT algorithms respectively. We also show that the DAMA problem can be framed as a multi-modal planning problem [14] and describe a hierarchical algorithm, DARRTH (CONNECT), that takes advantage of this multi-modal nature. This algorithm finds a high-level sequence of transfer manipulations by planning a path only for objects in the domain. It then attempts to achieve each transfer manipulation individually. We present experimental results for all four algorithms for a set of nine problems in two complicated mobile manipulation domains. We show that the bi-directional algorithms are faster than their forward search counterparts and that the hierarchical algorithms perform better than the monolithic searches. We also formally define the conditions under which DARRT is exponentially convergent and prove that these conditions hold for two example manipulation domains, one of which includes nonprehensile manipulation.
Description
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 197-201).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
Persistent DSpace Link
