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Communication Dans Un Congrès Année : 2017

Manipulation planning: addressing the crossed foliation issue

Résumé

This paper deals with manipulation planning. First, we propose a new tool called the constraint graph to describe the various motion constraints relative to a manipulation planning problem. Then, we describe a problem arising for some manipulation planning problems called the crossed foliation issue. We propose a extension of RRT algorithm that explores the leaves of the foliations generated by motion constraints and that solves the crossed foliation problem. Finally, we show a wide variety of problem that our approach can solve.
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Dates et versions

hal-01358767 , version 1 (04-09-2016)

Identifiants

  • HAL Id : hal-01358767 , version 1

Citer

Joseph Mirabel, Florent Lamiraux. Manipulation planning: addressing the crossed foliation issue. IEEE International Conference on Robotics and Automation 2017, May 2017, Singapour, Singapore. ⟨hal-01358767⟩
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