Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts

@article{Khoury2020EfficientSO,
  title={Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts},
  author={Marielle Khoury and Andreas Orthey and Marc Toussaint},
  journal={2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)},
  year={2020},
  pages={1547-1553}
}
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most existing algorithms concentrate on the control and learning aspect of sliding contacts, but do not embed the problem into a principled framework to provide guarantees on completeness or optimality. To address this problem, we propose a method to extend constraint… 
1 Citations

Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly

A scalable planning system which enables parallelization of complex task and motion planning problems by iteratively solving smaller sub-problems by combining optimization methods to solve for manipulation constraints with a sampling-based bi-directional space-time path planner.

References

SHOWING 1-10 OF 39 REFERENCES

Motion Planning for an Elastic Rod Using Contacts

An approach that solves the motion planning problem for an extensible elastic rod using contacts with the environment using a new RRT-SLIDE algorithm, which guides the roadmap extension with a sliding contact mode based on some principles of human reasoning.

Balance of Humanoid robot in Multi-contact and Sliding Scenarios

This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions and introduces a methodology to compute this center-of-mass (CoM) support area (CSA) for multiple fixed and sliding contacts.

An Efficient Acyclic Contact Planner for Multiped Robots

A contact planner for complex legged locomotion tasks: standing up, climbing stairs using a handrail, crossing rubble, and getting out of a car is presented, and the first interactive implementation of a contact planner (open source) is presented.

Contingent Contact-Based Motion Planning

A manipulation planner that finds and sequences these actions by reasoning explicitly about the uncertainty over the robot's state by incrementally constructs a policy that covers all possible contact states during a manipulation and finds contingencies for each of them.

Motion Planning of Multi-Limbed Robots Subject to Equilibrium Constraints: The Free-Climbing Robot Problem

  • T. Bretl
  • Computer Science
    Int. J. Robotics Res.
  • 2006
This paper addresses the problem of planning the motion of a multilimbed robot in order to “free-climb” vertical rock surfaces by decomposing a freeclimbing robot's configuration space into manifolds associated with each state of contact between the robot and its environment.

Sampling-Based Methods for Motion Planning with Constraints

This survey describes the families of methods for sampling-based planning with constraints and places them on a spectrum delineated by their complexity and focuses on the representation of constraints and sampling- based planners that incorporate constraints.

Planar in-hand manipulation via motion cones

The mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane, known as the motion cone, are presented and their use for the dynamic propagation step in a sampling-based planning algorithm is demonstrated.

Planning for Dexterous Manipulation with Sliding Contacts

The derivation of liftability regions of a planar object for use in manipulation planning; the use of the lifting phase plane in manipulation Planning; and the derivations of the quasi-static forward object motion problem, which provides a basis for general three- dimensional manipulation planning with rolling and/or sliding contacts.

Multi-contact Motion Planning and Control

This chapter highlights the state-of-the-art techniques used for this purpose in multi-contact planning and control in humanoid robots.

Task space regions: A framework for pose-constrained manipulation planning

  • International Journal of Robotics Research, vol. 30, no. 12, pp. 1435–1460, 2011.
  • 2011