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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Veröffentlicht in:	IEEE transactions on robotics Jg. 38; H. 4; S. 2370 - 2388
Hauptverfasser:	Lamiraux, Florent, Mirabel, Joseph
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.08.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	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
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Abstract	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.
AbstractList	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. This paper 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.
Author	Mirabel, Joseph Lamiraux, Florent
Author_xml	– sequence: 1 givenname: Florent orcidid: 0000-0002-8757-567X surname: Lamiraux fullname: Lamiraux, Florent email: florent.lamiraux@laas.fr organization: LAAS-CNRS, University of Toulouse, Toulouse, France – sequence: 2 givenname: Joseph orcidid: 0000-0002-9165-9008 surname: Mirabel fullname: Mirabel, Joseph email: josephmirabel@gmail.com organization: LAAS-CNRS, University of Toulouse, Toulouse, France
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Cites_doi	10.1109/ROBOT.2007.363986 10.1109/IROS.2014.6943079 10.1109/ICRA.2014.6906965 10.1177/0278364911406761 10.1109/70.508439 10.1109/LRA.2017.2708134 10.1016/j.robot.2013.09.004 10.1023/A:1016639210559 10.1109/ICRA.2017.7989390 10.1109/ROBOT.2002.1014856 10.1177/0278364908097884 10.1109/TRO.2018.2819658 10.1109/ROBOT.2004.1308111 10.1177/0278364906063979 10.1177/0278364910396389 10.1007/978-3-540-68405-3_6 10.1177/02783640122067354 10.15607/RSS.2015.XI.045 10.1109/SII.2019.8700380 10.1177/0278364913484072 10.1109/ROBOT.2000.844730 10.15607/RSS.2013.IX.022 10.1109/MRA.2012.2205651 10.1177/0278364913478990 10.1177/0278364904045471 10.1177/0278364908098457 10.1007/978-3-540-45058-0_3 10.1109/70.704220 10.15607/RSS.2017.XIII.039 10.1177/02783640122067453 10.1109/TASE.2019.2941046 10.1109/TRO.2012.2222272 10.1145/73393.73422 10.1109/IROS.2015.7354289 10.1007/s10514-018-9761-2 10.1109/IROS.2009.5354415 10.1109/LRA.2015.2513731 10.1142/S0218195999000273 10.1017/S0263574714001234 10.1177/0278364913481250 10.1016/0196-8858(83)90014-3 10.1109/ICHR.2009.5379547 10.1017/S0263574718001182 10.1177/0278364910386985 10.1109/ICRA.2014.6906922 10.15607/RSS.2018.XIV.044 10.1109/ICRA.2017.7989467 10.1142/S0218195999000285 10.1163/156855300741960 10.1109/ICRA.2019.8793824 10.1109/IROS.2016.7759083 10.1177/0278364919868530
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Snippet	This article presents a software platform tailored for prehensile manipulation planning named humanoid path planner. The platform implements an original way of... This paper presents a software platform tailored for prehensile manipulation planning named Humanoid Path Planner. The platform implements an original way of...
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SubjectTerms	Algorithms Computer Science Constrained path planning Constraint modelling Humanoid Kinematics Manifolds manipulation planning Open source software Path planning Planning Robotics Robots Software algorithms
Title	Prehensile Manipulation Planning: Modeling, Algorithms and Implementation
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