Manipulation with Multiple Action Types
Name
barry-iser12.pdf
Description
Accepted version
Size
8.9 MB
Format
Unknown
Checksum (MD5)
019921422ca81e1bacd6885747316eb2
Author(s)
Barry, Jennifer
Hsiao, Kaijen
Kaelbling, Leslie P
Lozano-Pérez, Tomás
Date Issued
2013
Publisher
Springer Nature
Citation
Barry, Jennifer, Hsiao, Kaijen, Kaelbling, Leslie Pack and Lozano-Pérez, Tomás. 2013. "Manipulation with Multiple Action Types."
Version
Author's final manuscript
Abstract
We present DARRT, a sampling-based algorithm for planning with multiple types of manipulation. Given a robot, a set of movable objects, and a set of actions for manipulating the objects, DARRT returns a sequence of manipulation actions that move the robot and objects from an initial configuration to a final configuration. The manipulation actions may be non-prehensile, meaning that the object is not rigidly attached to the robot, such as push, tilt, or pull. We describe a simple extension to the RRT algorithm to search the combined space of robot and objects and present an implementation of DARRT on the Willow Garage PR2 robot.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1007/978-3-319-00065-7_36
