A Hybrid Approach to Intricate Motion, Manipulation and Task Planning
نویسندگان
چکیده
منابع مشابه
A Hybrid Approach to Intricate Motion, Manipulation and Task Planning
We propose a representation and a planning algorithm able to deal with problems integrating task planning as well as motion and manipulation planning knowledge involving several robots and objects. Robot plans often include actions where the robot has to place itself in some position in order to perform some other action or to “modify” the configuration of its environment by displacing objects....
متن کاملMulti-modal Motion Planning for a Humanoid Robot Manipulation Task
This paper presents a motion planner that enables a humanoid robot to push an object on a flat surface. The robot’s motion is divided into distinct walking, reaching, and pushing modes. A discrete change of mode can be achieved with a continuous single-mode motion that satisfies mode-specific constraints (e.g. dynamics, kinematic limits, avoid obstacles). Existing techniques can plan well in si...
متن کاملOverview of aSyMov: Integrating Motion, Manipulation and Task Planning
In this paper we propose a new and integrated approach to solve planning problems with both symbolic and geometric aspects. Typical concerned domains are intricate manipulation and task planning problems involving multiple robots in three dimensional worlds. The approach involves a task planner that guides a probabilistic roadmap method used to capture the topology of the free space in various ...
متن کاملCombined Task and Motion Planning for Mobile Manipulation
We present a hierarchical planning system and its application to robotic manipulation. The novel features of the system are: 1) it finds high-quality kinematic solutions to task-level problems; 2) it takes advantage of subtask-specific irrelevance information, reusing optimal solutions to state-abstracted subproblems across the search space. We briefly describe how the system handles uncertaint...
متن کاملAn approach to motion planning for mobile manipulation
Increasing the flexibility of robot systems has been one of the main objectives of robotics research in recent years. There are various approaches to achieve this: increasing fault-tolerance on different levels, the development of sophisticated sensors, grippers and manipulators and the use of learning techniques. But the field of operation of such smart systems is still limited to a rather sma...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2009
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364908097884