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CS 326 A: Motion Planning

CS 326 A: Motion Planning. http://robotics.stanford.edu/~latombe/cs326/2002 Manipulation Planning. Movable Objects. Objects that are static, but can be moved by robots, provided they are grasped. Complement to assembly sequence planning Manipulation tasks

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CS 326 A: Motion Planning

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  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

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