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Combined heuristic task and motion planning for bi-manual robots
Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya (UPC)—Barcelona Tech, Barcelona, Spain.
Örebro universitet, Institutionen för naturvetenskap och teknik.ORCID-id: 0000-0002-8631-7863
Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya (UPC)—Barcelona Tech, Barcelona, Spain.
2019 (engelsk)Inngår i: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 43, nr 6, s. 1575-1590Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

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 placements, grasp poses, and inverse kinematics solutions. Motion paths are evaluated lazily, i.e., only after an action has been selected by the heuristic. This reduces the number of calls to the motion planner, while backtracking is reduced because the heuristic captures most of the geometric constraints. The approach has been validated in simulation and on a real robot, with different classes of table-top manipulation problems. Empirical comparison with recent approaches solving similar problems is also reported, showing that the proposed approach results in significant improvement both in terms of planing time and success rate.

sted, utgiver, år, opplag, sider
Springer, 2019. Vol. 43, nr 6, s. 1575-1590
Emneord [en]
Combined task and motion planning, Robot manipulation, Geometric reasoning, Path planning
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Identifikatorer
URN: urn:nbn:se:oru:diva-75363DOI: 10.1007/s10514-018-9817-3ISI: 000474366100017Scopus ID: 2-s2.0-85055937575OAI: oai:DiVA.org:oru-75363DiVA, id: diva2:1339319
Merknad

Funding Agencies:

Spanish Government  FPI 2015  DPI2016-80077-R 

Swedish Knowledge Foundation (KKS) Project "Semantic Robots"

Tilgjengelig fra: 2019-07-29 Laget: 2019-07-29 Sist oppdatert: 2019-07-29bibliografisk kontrollert

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