Prehensile Manipulation Planning: Modeling, Algorithms and Implementation
Florent Lamiraux, Joseph Mirabel
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.
Topics & Concepts
Prehensile tailPlannerMotion planningComputer scienceHumanoid robotVariety (cybernetics)Constraint (computer-aided design)GraphSoftwarePath (computing)Constraint programmingAlgorithmArtificial intelligenceRobotTheoretical computer scienceMathematical optimizationProgramming languageEngineeringMathematicsPaleontologyMechanical engineeringStochastic programmingBiologyRobotic Path Planning AlgorithmsRobot Manipulation and LearningAI-based Problem Solving and Planning