1 / 6

CS 326 A: Motion Planning

Explore the challenges and approaches in motion planning involving both static and movable objects for robotic manipulation tasks. Learn about manipulation graph, criticality-based discretization, and probabilistic sampling techniques. Discover open problems in path planning, grasp planning, stability maintenance, and dynamic manipulation.

deborar
Download Presentation

CS 326 A: Motion Planning

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. CS 326 A: Motion Planning http://robotics.stanford.edu/~latombe/cs326/2002 Manipulation Planning

  2. Movable Objects Objects that are static, but can be moved by robots, provided they are grasped • Complement to assembly sequence planning • Manipulation tasks • Autonomous robots in environment with movable objects

  3. Composite Configuration Space Some dimensions of the composite configurationspace are not directly controllable

  4. Some Planning Approaches • Combinatorial search based on a priori discretization Manipulation Graph(1st planner of 1st paper) • Criticality-based discretization (2nd planner of 1st paper) • Probabilistic sampling (2nd paper) • Plan for the movable objects, while checking that they follow paths where they are graspable (transfer paths) • Plan for the motion of the robots from one grasp to another (transit paths) • The approach is usually not complete

  5. Non-Prehensile Manipulation E.g.: Pushing (K. Lynch) Relation to part feeding(next class)

  6. Many Open Problems • Interaction of path planning and grasp planning • Interaction with stability maintenance • Dynamic manipulation (e.g., throw an object and catch it back with a different pose) • Large gap between theory and practice

More Related