Publication

Single and Dual Arm Manipulator Motion Planning Library

Behnam Asadi

In: Workshop on Task Planning for Intelligent Robots in Service and Manufacturing. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Task Planning for Intelligent Robots in Service and Manufacturing located at IROS 2015 10/2015.

Abstract

In this work a library for solving manipulator motion planning problems has been developed and an algorithm for imposing Cartesian constraint in single arm and dual arm operation has been proposed. The main algorithm is based on RRT [1]. The code has been tested with several single arm and dual arm robots. We have achieved to find collision free paths in environments occupied with obstacles. Example of such environments is the shelf from Amazon picking challenge. The implemented code also enabled us to perform complicated dual arm operations such as opening a hand wheel or opening a drawer.

Projekte

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz