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Prehensile Manipulation Planning: Modeling, Algorithms and Implementation
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DOI：10.1109/TRO.2021.3130433.png)
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Abstract
En 中文
This article presents a software platform tailored for prehensile manipulation planning named humanoid path planner. The platform implements an original way of modeling manipulation planning through a constraint graph that represents the numerical constraints that define the manipulation problem. We propose an extension of the RRT algorithm to manipulation planning that is able to solve a large variety of problems. We provide replicable experimental results via a docker image that readers may download to run the experimental results by themselves.
Keywords:
Planning
Robots
Software algorithms
Open source software
Manifolds
Kinematics
Path planning
Constrained path planning
manipulation planning
path planning
robotics
Journal
IF:
10.5
Papers:
3.3K
Citations:
2.8W