Prehensile Manipulation Planning: Modeling, Algorithms and Implementation

This article presents a software platform tailored for prehensile manipulation planning named humanoid path planner. The platform implements an original way of modeling manipulation planning through a constraint graph that represents the numerical constraints that define the manipulation problem. We...

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Bibliographic Details
Published in:IEEE transactions on robotics Vol. 38; no. 4; pp. 2370 - 2388
Main Authors: Lamiraux, Florent, Mirabel, Joseph
Format: Journal Article
Language:English
Published: New York IEEE 01.08.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Algorithms
Computer Science
Constrained path planning
Constraint modelling
Humanoid
Kinematics
Manifolds
manipulation planning
Open source software
Path planning
Planning
Robotics
Robots
Software algorithms
robotics
software platform
constrained path planning
manipulation planning
path planning
ISSN:1552-3098, 1941-0468
Online Access:Get full text
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Summary:This article presents a software platform tailored for prehensile manipulation planning named humanoid path planner. The platform implements an original way of modeling manipulation planning through a constraint graph that represents the numerical constraints that define the manipulation problem. We propose an extension of the RRT algorithm to manipulation planning that is able to solve a large variety of problems. We provide replicable experimental results via a docker image that readers may download to run the experimental results by themselves.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2021.3130433