Notice
This is not the latest version of this item. The latest version can be found at:https://dspace.mit.edu/handle/1721.1/137625.2
Manipulation with Multiple Action Types
| dc.contributor.author | Barry, Jennifer | |
| dc.contributor.author | Hsiao, Kaijen | |
| dc.contributor.author | Kaelbling, Leslie Pack | |
| dc.contributor.author | Lozano-Pérez, Tomás | |
| dc.date.accessioned | 2021-11-05T21:00:12Z | |
| dc.date.available | 2021-11-05T21:00:12Z | |
| dc.date.issued | 2013 | |
| dc.identifier.issn | 1610-7438 | |
| dc.identifier.issn | 1610-742X | |
| dc.identifier.uri | https://hdl.handle.net/1721.1/137625 | |
| dc.description.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. | en_US |
| dc.language.iso | en | |
| dc.publisher | Springer Nature | en_US |
| dc.relation.isversionof | 10.1007/978-3-319-00065-7_36 | en_US |
| dc.rights | Creative Commons Attribution-Noncommercial-Share Alike | en_US |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
| dc.source | MIT web domain | en_US |
| dc.title | Manipulation with Multiple Action Types | en_US |
| dc.type | Article | en_US |
| dc.identifier.citation | Barry, Jennifer, Hsiao, Kaijen, Kaelbling, Leslie Pack and Lozano-Pérez, Tomás. 2013. "Manipulation with Multiple Action Types." | |
| dc.eprint.version | Author's final manuscript | en_US |
| dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
| eprint.status | http://purl.org/eprint/status/NonPeerReviewed | en_US |
| dc.date.updated | 2019-06-04T14:10:04Z | |
| dspace.date.submission | 2019-06-04T14:10:05Z | |
| mit.metadata.status | Authority Work and Publication Information Needed | en_US |
