Hierarchical planning for multi-contact non-prehensile manipulation
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Lozano-Perez_Hierarchical planning.pdf
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1.81 MB
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Author(s)
Lee, Gilwoo
Lozano-Perez, Tomas
Kaelbling, Leslie P
Date Issued
September 2016
Journal
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Gilwoo Lee, Tomas Lozano-Perez, and Leslie Pack Kaelbling. “Hierarchical Planning for Multi-Contact Non-Prehensile Manipulation.” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (September 2015). © 2016 Institute of Electrical and Electronics Engineers (IEEE)
Version
Author's final manuscript
Abstract
Manipulation planning involves planning the combined motion of objects in the environment as well as the robot motions to achieve them. In this paper, we explore a hierarchical approach to planning sequences of non-prehensile and prehensile actions. We subdivide the planning problem into 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.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/IROS.2015.7353384
