Contact-based language for robotic manipulation planning

Conference paper (2016)

Authors

Anuj Shah

G.A. Delgado Lopes OLD Intelligent Control & Robotics

E. Najafi University of Tehran, OLD Intelligent Control & Robotics

Research Group

OLD Intelligent Control & Robotics

Artificial intelligence Robots Planning Path planning Aerospace electronics Search problems

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

Published Date

2016

Language

English

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Research Group

OLD Intelligent Control & Robotics

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.