Modeling and Planning Manipulation in Dynamic Environments
| Autor: | Florian Witnshofer, Georg von Wichert, Kai M. Wurm, Philipp S. Schmitt, Wolfram Burgard |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Sequence Computer science 020207 software engineering Control engineering 02 engineering and technology Plan (drawing) Object (computer science) Computer Science::Robotics Constraint (information theory) 020901 industrial engineering & automation Grippers 0202 electrical engineering electronic engineering information engineering Trajectory Robot Collision avoidance |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra.2019.8793824 |
| Popis: | In this paper we propose a new model for sequential manipulation tasks that also considers robot dynamics and time-variant environments. From this model we automatically derive constraint-based controllers and use them as steering functions in a kinodynamic manipulation planner. The resulting plan is not a trajectory but a sequence of controllers that react online to disturbances. We validated our approach in simulation and on a real robot. In the experiments our approach plans and executes dual-robot manipulation tasks with online collision avoidance and reactions to estimates of object poses. |
| Databáze: | OpenAIRE |
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