Manipulation planning among movable obstacles

被引：125

作者：

Stilman, Mike ^{[1
]}

Schamburek, Jan-Ullrich ^{[1
,2
]}

Kuffner, James ^{[1
]}

Asfour, Tamim ^{[2
]}

机构：

[1] Carnegie Mellon Univ, Inst Robot, 5000 Forbes Ave, Pittsburgh, PA 15213 USA

[2] Univ Karlsruhe, Inst Comp Sci & Engn, D-76131 Karlsruhe, Germany

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.363986

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the ResolveSpatialConstraints (RSC) algorithm for manipulation planning in a domain with movable obstacles. Empirically we show that our algorithm quickly generates plans for simulated articulated robots in a highly nonlinear search space of exponential dimension. RSC is a reverse-time search that samples future robot actions and constrains the space of prior object displacements. To optimize the efficiency of RSC, we identify methods for sampling object surfaces and generating connecting paths between grasps and placements. In addition to experimental analysis of RSC, this paper looks into object placements and task-space motion constraints among other unique features of the three dimensional manipulation planning domain.

引用

页码：3327 / +

页数：2

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