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Combining Motion Planning and Optimization for Flexible Robot Manipulation
Robots that operate in natural human environments must be capable of
handling uncertain dynamics and underspecified goals. Current
solutions for robot motion planning are split between graph-search
methods, such as RRT and PRM which offer solutions to high-dimensional
problems, and Reinforcement Learning methods, which relieve the need
to specify explicit goals and action dynamics. This paper addresses
the gap between these methods by presenting a task-space probabilistic
planner which solves general manipulation tasks posed as optimization
criteria. Our approach is validated in simulation and on a 7-DOF robot
arm that executes several tabletop manipulation tasks. Project
Members:
Publications
Conference
- 2010
Jonathan Scholz and Mike Stilman
Combining Motion Planning and Optimization for Flexible Robot Manipulation
IEEE/RAS International Conference on Humanoid Robotics.
2010.
Best Paper Award
Robots that operate in natural human environments must be capable of
handling uncertain dynamics and underspecified goals. Current solutions
for robot motion planning are split between graph-search methods, such
as RRT and PRM which offer solutions to high-dimensional problems, and
Reinforcement Learning methods, which relieve the need to specify
explicit goals and action dynamics. This paper addresses the gap
between these methods by presenting a task-space probabilistic planner
which solves general manipulation tasks posed as optimization
criteria. Our approach is validated in simulation and on a 7-DOF robot
arm that executes several tabletop manipulation tasks. First, this
paper formalizes the problem of planning in underspecified domains. It
then describes the algorithms necessary for applying this approach to
planar manipulation tasks. Finally it validates the algorithms on a
series of sample tasks that have distinct objectives, multiple objects
with different shapes/dynamics, and even obstacles that interfere with
object motion.
@inproceedings{scholz2010combining,
title = {Combining Motion Planning and Optimization for Flexible Robot Manipulation},
pages = {80--85},
month = {December},
booktitle = {IEEE/RAS International Conference on Humanoid Robotics},
author = {Jonathan Scholz and Mike Stilman},
year = {2010}
}
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