Efficient Motion and Grasp Planning for Humanoid Robots
نویسندگان
چکیده
The control system of a robot operating in a human-centered environments should address the problem of motion planning to generate collision-free motions for grasping and manipulation tasks. To deal with the complexity of these tasks in such environments, different motion planning algorithms can be used. We present a motion planning framework for manipulation and grasping tasks consisting of different components for sampling-based motion planning, collision checking, integrated motion planning and inverse kinematics as well as for planning of single arm grasping and dual-arm re-grasping tasks. We provide an evaluation of the presented methods on the humanoid robot ARMAR-III.
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