Hierarchical planning for multi-contact non-prehensile manipulation
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 stage...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2017
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| Online Access: | http://hdl.handle.net/1721.1/112660 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 |
| _version_ | 1826192157620305920 |
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| author | Lee, Gilwoo Lozano-Perez, Tomas Kaelbling, Leslie P |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Lee, Gilwoo Lozano-Perez, Tomas Kaelbling, Leslie P |
| author_sort | Lee, Gilwoo |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T09:07:07Z |
| format | Article |
| id | mit-1721.1/112660 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:07:07Z |
| publishDate | 2017 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1126602022-09-26T10:37:23Z Hierarchical planning for multi-contact non-prehensile manipulation Lee, Gilwoo Lozano-Perez, Tomas Kaelbling, Leslie P Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Lee, Gilwoo Lozano-Perez, Tomas Kaelbling, Leslie P 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. National Science Foundation (U.S.) (grant 1420927) United States. Office of Naval Research (grant N00014-14-1-0486) United States. Air Force. Office of Scientific Research (grant FA23861014135) United States. Army Research Office (grant W911NF1410433) 2017-12-08T18:27:00Z 2017-12-08T18:27:00Z 2016-09 Article http://purl.org/eprint/type/ConferencePaper 978-1-4799-9994-1 http://hdl.handle.net/1721.1/112660 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) https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 en_US http://dx.doi.org/10.1109/IROS.2015.7353384 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT Web Domain |
| spellingShingle | Lee, Gilwoo Lozano-Perez, Tomas Kaelbling, Leslie P Hierarchical planning for multi-contact non-prehensile manipulation |
| title | Hierarchical planning for multi-contact non-prehensile manipulation |
| title_full | Hierarchical planning for multi-contact non-prehensile manipulation |
| title_fullStr | Hierarchical planning for multi-contact non-prehensile manipulation |
| title_full_unstemmed | Hierarchical planning for multi-contact non-prehensile manipulation |
| title_short | Hierarchical planning for multi-contact non-prehensile manipulation |
| title_sort | hierarchical planning for multi contact non prehensile manipulation |
| url | http://hdl.handle.net/1721.1/112660 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 |
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