Manipulation planning: Addressing the crossed foliation issue
Manipulation planning: Addressing the crossed foliation issue
复制标题
操纵规划：解决交叉叶状问题
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
F. Lamiraux
中科院分区：
文献类型：
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作者：
Joseph Mirabel;F. Lamiraux
本文涉及操纵计划。首先，我们提出了一个称为约束图的新工具，以描述相对于操纵计划问题的各种运动约束。然后，我们描述了一些操纵计划问题所引起的问题，称为交叉叶面问题。我们提出了RRT算法的扩展，该算法探讨了运动约束产生的叶子的叶子，并解决了交叉叶面问题。最后，我们显示了我们方法可以解决的各种问题。
This paper deals with manipulation planning. First, we propose a new tool called the constraint graph to describe the various motion constraints relative to a manipulation planning problem. Then, we describe a problem arising for some manipulation planning problems called the crossed foliation issue. We propose a extension of RRT algorithm that explores the leaves of the foliations generated by motion constraints and that solves the crossed foliation problem. Finally, we show a wide variety of problem that our approach can solve.