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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| Published in: | IEEE transactions on robotics Vol. 38; no. 4; pp. 2370 - 2388 |
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| Main Authors: | , |
| Format: | Journal Article |
| Language: | English |
| Published: |
New York
IEEE
01.08.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 1552-3098, 1941-0468 |
| Online Access: | Get full text |
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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. |
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| AbstractList | 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. 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. |
| 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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| Keywords | robotics software platform constrained path planning manipulation planning path planning |
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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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