Contact-based language for robotic manipulation planning

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Contact-based language for robotic manipulation planning

Conference Paper (2016)

Author(s)

Anuj Shah

G.A. Delgado Lopes (TU Delft - OLD Intelligent Control & Robotics)

Esmaeil Najafi (TU Delft - OLD Intelligent Control & Robotics, University of Tehran)

Research Group

OLD Intelligent Control & Robotics

Artificial intelligence Robots Planning Path planning Aerospace electronics Search problems

DOI related publication

https://doi.org/10.1109/IROS.2016.7759838 Final published version

To reference this document use

https://resolver.tudelft.nl/uuid:5f1efe65-a9ab-452c-99bd-ec78b06c1ede

More Info

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Publication Year

2016

Language

English

Research Group

OLD Intelligent Control & Robotics

Pages (from-to)

5695-5700

ISBN (electronic)

978-1-5090-3762-9

Event

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 (2016-10-09 - 2016-10-14), Daejeon, Korea, Republic of

Downloads counter

133

Abstract

This paper proposes a new approach to robotic manipulation planning based on the contact between a set of objects, robots and surfaces. We consider making or breaking contact as the most abstract, yet representative element of a manipulation task. Using this paradigm, a robotic manipulation planner has been developed. Given an environment with robots and objects, a manipulation graph is generated by a set of rules and the available geometrical information. Next, the object manipulation planning is formulated as a graph search problem. Paths on this graph divide a complex manipulation task into sub-tasks, followed by low-level path planning and controller assignment for each sub-task. By sequentially executing these controllers in a hybrid fashion, one achieves the overall manipulation task.