Pierre Tournassoud

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We describe a robot system capable of locating a part in an unstructured pile of objects, choose a grasp on the part, plan a motion to reach the part safely, and plan a motion to place the part at a commanded position. The system requires as input a polyhedral world model including models of the part to be manipulated, the robot arm, and any other fixed(More)
In this paper, we propose a mixed approach for motion planning that decomposes the problem into two levels. At the global level, we build a graph whose nodes represent relatively large cells of the Configuration Space of the robotic system. Adjacent cells are connected by edges weighted by the probability for the local planner to succeed in computing a(More)
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