Manipulation planning for redundant robots: A practical approach
- Univ. de las Americas, Puebla (Mexico)
- Simon Fraser Univ., Burnaby, British Columbia (Canada). School of Engineering Science
- INRIA Rhone Alpes, Montbonnot (France)
An emerging paradigm in solving the classical motion-planning problem (among static obstacles) is to capture the connectivity of the configuration space using a finite (but possibly large) set of landmarks (or nodes) in it. In this paper, the authors extend this paradigm to manipulation-planning problem, where the goal is to plan the motion of a robot so that it can move a given object from an initial configuration to a final configuration while avoiding collisions with the static obstacles and other movable objects in the environment. The specific approach adapts Adriadne`s clew algorithm, which has been shown effective for classical motion-planning problems (Mazer et al. 1994; Ahuactzin 1994). In the approach, landmarks are placed in lower dimensional submanifolds of the composite configuration space. These landmarks represent stable grasps that are reachable from the initial configuration. From each new landmark, the planner attempts to reach the goal configuration by executing a local planner, again in a lower (but different) dimensional submanifold of the composite configuration space. The approach is probabilistically resolution complete, does not assume that a closed-form inverse-kinematics solution for the manipulator is available, and is particularly suitable for redundant manipulators. The authors also demonstrate that the approach is practical for realistic problems in three-dimensional environments with manipulator arms having fairly large numbers of degrees of freedom. They have experimented with this approach for a 7-DOF manipulator in 3-D environments with one movable object, and computation times range between a few minutes and a few tens of minutes--in the experiments, between 3 min to 15 min, depending on the task difficulty.
- Sponsoring Organization:
- USDOE
- OSTI ID:
- 665349
- Journal Information:
- International Journal of Robotics Research, Vol. 17, Issue 7; Other Information: PBD: Jul 1998
- Country of Publication:
- United States
- Language:
- English
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