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Chapitre D'ouvrage Année : 1994

Two manipulation planning algorithms

Rachid Alami
Thierry Simeon

Résumé

This paper addresses the motion planning problem for a robot in presence of movable objects. Motion planning in this context appears as a constrained instance of the coordinated motion planning problem for multiple movable bodies. Indeed, a solution path in the configuration space of the robot and all movable objects is a sequence of transit paths where the robot moves alone and transfer paths where a movable object follows the robot. A major problem is to find the set of configurations where the robot has to grasp or release objects. The paper gives an overview of a general approach which consists in building a manipulation graph whose connected components characterize the existence of solutions. Two planners developed at LAAS-CNRS illustrate how the general formulation can be instantiated in specific cases.
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Dates et versions

hal-01310030 , version 1 (02-05-2016)

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  • HAL Id : hal-01310030 , version 1

Citer

Rachid Alami, Jean-Paul Laumond, Thierry Simeon. Two manipulation planning algorithms. Ken Goldberg, Dan Halperin, Jean-Claude Latombe, Randall Wilson. WAFR Proceedings of the workshop on Algorithmic foundations of robotics , A. K. Peters, Ltd. Natick, MA, USA, pp.109-125, 1994, ISBN:1-56881-045-8. ⟨hal-01310030⟩
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