ICRA 2012 Paper Abstract

Close

Paper TuB03.6

Horowitz, Matanya (California Institute of Technology), Burdick, Joel (California Institute of Technology)

Combined Grasp and Manipulation Planning As a Trajectory Optimization Problem

Scheduled for presentation during the Regular Session "Grasp Planning" (TuB03), Tuesday, May 15, 2012, 11:45−12:00, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 23, 2018

Keywords Grasping, Manipulation Planning, Motion and Path Planning

Abstract

Many manipulation planning problems involve several related sub-problems, such as the selection of grasping points on an object, choice of hand posture, and determination of the armís configuration and evolving trajectory. Traditionally, these planning sub-problems have been handled separately, potentially leading to sub-optimal, or even infeasible, combinations of the individually determined solutions. This paper formulates the combined problem of grasp contact selection, grasp force optimization, and manipulator arm/hand trajectory planning as a problem in optimal control. That is, the locally optimal trajectory for the manipulator, hand mechanism, and contact locations are determined during the pre-grasping, grasping, and subsequent object transport phase. Additionally, a barrier function approach allows for non-feasible grasps to be optimized, enlarging the region of convergence for the algorithm. A simulation of a simple planar object manipulation task is used to illustrate and validate the approach.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-02-23  15:56:50 PST  Terms of use