A probabilistic algorithm for manipulation planning under continuous grasps and placements
A probabilistic algorithm for manipulation planning under continuous grasps and placements
复制标题
连续抓取和放置下的操作规划的概率算法
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
T. Siméon
中科院分区：
文献类型：
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作者：
A. Sahbani;Juan Cortés;T. Siméon
自主机器人的一项重要技能是执行操作任务的能力。操作问题的解决方案通常包含一系列基本路径，其中物体由机器人移动或在机器人执行重新抓取运动时保持在稳定位置。大多数现有的计划人员需要有限的配置集来实现任务分解。我们最近提出了一种方法，从连续的稳定放置和可移动物体的可能抓取集自动计算这种中间配置。本文在此基础上提出了一种改进算法。它还提出了几个复杂的操作问题，说明了规划器的效率。
An important skill of autonomous robots is the ability to carry out manipulation tasks. The solution to a manipulation problem generally consists in a sequence of elementary paths where an object is moved by a robot or it stays at a stable placement while the robot performs a re-grasping motion. Most existing planners require a finite set of configurations to achieve this task decomposition. We recently proposed an approach to automatically compute such intermediate configurations from continuous sets of stable placements and possible grasps of the movable object. This paper describes an improved algorithm based on this approach. It also presents several complex manipulation problems that illustrate the efficiency of the planner.