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Combining Planning and Motion Planning Choi, Jaesik Amir, Eyal Motion Planning Factored Planning Robotic arm 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. Schloss Dagstuhl – Leibniz-Zentrum für Informatik Jaesik Choi and Eyal Amir 2010 Is Part Of Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010) InProceedings Text doc-type:ResearchArticle publishedVersion application/pdf doi:10.4230/DagSemProc.10081.6 urn:nbn:de:0030-drops-26294 https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.6 eng https://creativecommons.org/licenses/by/4.0/legalcode