Planning representations and algorithms for prehensile multi-arm manipulation

Andrew Dobson; Kostas E Bekris

doi:10.1109/IROS.2015.7354289

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Conference proceeding

Planning representations and algorithms for prehensile multi-arm manipulation

Andrew Dobson and Kostas E Bekris

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol.2015-, pp.6381-6386

09/2015

DOI: https://doi.org/10.1109/IROS.2015.7354289

Abstract

Computational modeling

Grasping

Manipulators

Object recognition

Planning

Topology

This paper describes the topology of general multi-arm prehensile manipulation. Reasonable assumptions are applied to reduce the number of manipulation modes, which results in an explicit graphical representation for multi-arm manipulation that is computationally manageable to store and search for solution paths. In this context, it is also possible to take advantage of preprocessing steps to significantly speed up online query resolution. The approach is evaluated in simulation for multiple arms showing it is possible to quickly compute multi-arm manipulation paths of high-quality on the fly.

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Details

Title: Planning representations and algorithms for prehensile multi-arm manipulation
Creators: Andrew Dobson - Comput. Sci., Rutgers Univ., Piscataway, NJ, USA
Kostas E Bekris - Comput. Sci., Rutgers Univ., Piscataway, NJ, USA
Publication Details: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol.2015-, pp.6381-6386
Date published: 09/2015
Publisher: IEEE
Academic Unit: Computer Science (SAS)
Language: English
Resource Type: Conference proceeding
Identifiers: 991031665312904646