Publication

Motion Planning for Manipulators

Behnam Asadi, Sankaranarayanan Natarajan

DFKI GmbH DFKI Documents (D) 14-03 14-03 ISBN ISSN 0946-0098 Selbstverlag, Bremen 6/2014.

Abstract

On this poster, two libraries for motion planning for manipulator is introduced(MoveIt!, MotionPlanner Library). MoveIt! is state of the art motion planner framework for mobile manipulation applications. A framework independent motionplanning library is developed using sample-based motionplanning algorithm. This library also supports dual arm manipulation and replanning for dynamic environment.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz