Carregant...
Carregant...

Vés al contingut (premeu Retorn)

Randomized physics-based motion planning for grasping in cluttered and uncertain environments

Autor
Ud Din, M.; Moll, M.; Kavraki, L.; Rosell, J.
Tipus d'activitat
Article en revista
Revista
IEEE robotics and automation letters
Data de publicació
2018-04-01
Volum
3
Número
2
Pàgina inicial
712
Pàgina final
719
DOI
https://doi.org/10.1109/LRA.2017.2783445 Obrir en finestra nova
Projecte finançador
Robots autónomos diestros como co-trabajadores con operadores humanos
Repositori
http://hdl.handle.net/2117/113122 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/document/8207585/ Obrir en finestra nova
Resum
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved out. This letter takes a different approach and proposes to address this problem by using a randomized physics-based motion planner that permits robot–object and object–object interactions. The main idea is to avoid an explicit high-level reasoning of the t...
Citació
Muhayyuddin, Moll, M., Kavraki, L., Rosell, J. Randomized physics-based motion planning for grasping in cluttered and uncertain environments. "IEEE robotics and automation letters", 1 Abril 2018, vol. 3, núm. 2, p. 712-719.
Paraules clau
Motion and path planning, manipulation planning, physics-based planning, planning under uncertainties.
Grup de recerca
SIR - Service and Industrial Robotics

Participants

Arxius