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Pré-Publication, Document De Travail Année : 2020

Prehensile Manipulation Planning: Modeling, Algorithms and Implementation

Résumé

This paper presents a software platform taylored for prehensile manipulation planning named Humanoid Path Planner. The platform implements an original way of modelling manipulation planning through a constraint graph that represents the numerical constraints that define the manipulation problem. We propose an extension of 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.
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Dates et versions

hal-02995125 , version 1 (09-11-2020)
hal-02995125 , version 2 (24-11-2021)

Identifiants

  • HAL Id : hal-02995125 , version 1

Citer

Florent Lamiraux, Joseph Mirabel. Prehensile Manipulation Planning: Modeling, Algorithms and Implementation. 2020. ⟨hal-02995125v1⟩
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