Robotic manipulation is important for real, physical world applications. General Purpose manipulation with a robot (eg. delivering dishes, opening doors with a key, etc.) is demanding. It is hard because (1) objects are constrained in position and orientation, (2) many non-spatial constraints interact (or interfere) with each other, and (3) robots may have multidegree of freedoms (DOF). In this paper we solve the problem of general purpose robotic manipulation using a novel combination of planning and motion planning. Our approach integrates motions of a robot with other (non-physical or external-to-robot) actions to achieve a goal while manipulating objects. It differs from previous, hierarchical approaches in that (a) it considers kinematic constraints in configuration space (C-space) together with constraints over object manipulations; (b) it automatically generates high-level (logical) actions from a C-space based motion planning algorithm; and (c) it decomposes a planning problem into small segments, thus reducing the complexity of planning.
@InProceedings{choi_et_al:DagSemProc.10081.6, author = {Choi, Jaesik and Amir, Eyal}, title = {{Combining Planning and Motion Planning}}, booktitle = {Cognitive Robotics}, pages = {1--8}, series = {Dagstuhl Seminar Proceedings (DagSemProc)}, ISSN = {1862-4405}, year = {2010}, volume = {10081}, editor = {Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri}, publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik}, address = {Dagstuhl, Germany}, URL = {https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.6}, URN = {urn:nbn:de:0030-drops-26294}, doi = {10.4230/DagSemProc.10081.6}, annote = {Keywords: Motion Planning, Factored Planning, Robotic arm} }
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