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CS 326A: Motion Planning

CS 326A: Motion Planning. ai.stanford.edu/~latombe/cs326/2007/index.htm Primitive-Biased Sampling + Manipulation Planning. Today’s Papers.

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CS 326A: Motion Planning

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  1. CS 326A: Motion Planning ai.stanford.edu/~latombe/cs326/2007/index.htm Primitive-Biased Sampling + Manipulation Planning

  2. Today’s Papers • Primitive-biased sampling for legged robots:K. Hauser, T. Bretl, J.C. Latombe, K. Harada, and B. Wilcox. Motion Planning for Legged Robots on Varied Terrain. 2007. • Manipulation planning:T. Simeon, J.P. Laumond, J. Cortes, A. Sahbani. Manipulation Planning with Probabilistic Roadmap. Int. J. of Robotics Research, 23:729-746, 2004.

  3. New Ideas • Use of sampling strategy in PRM to generate “natural-looking” motions • Use of primitives to select robot-terrain contacts • Manipulation planning with many re-grasps

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