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Combined heuristic task and motion planning for bi-manual robots

Autor
Akbari, A.; Lagriffoul, F.; Rosell, J.
Tipus d'activitat
Article en revista
Revista
Autonomous robots
Data de publicació
2018-10-26
Pàgina inicial
1
Pàgina final
16
DOI
https://doi.org/10.1007/s10514-018-9817-3 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/124820 Obrir en finestra nova
URL
https://link.springer.com/article/10.1007/s10514-018-9817-3 Obrir en finestra nova
Resum
Planning efficiently at task and motion levels allows the setting of new challenges for robotic manipulation problems, like for instance constrained table-top problems for bi-manual robots. In this scope, the appropriate combination of task and motion planning levels plays an important role. Accordingly, a heuristic-based task and motion planning approach is proposed, in which the computation of the heuristic addresses a geometrically relaxed problem, i.e., it only reasons upon objects placement...
Citació
Akbari, A., Lagriffoul, F., Rosell, J. Combined heuristic task and motion planning for bi-manual robots. "Autonomous robots", 26 Octubre 2018, p. 1-16.
Paraules clau
Combined task and motion planning, Geometric reasoning, Path planning, Robot manipulation
Grup de recerca
SIR - Service and Industrial Robotics

Participants