Manipulation planning with Workspace Goal Regions

@article{Berenson2009ManipulationPW,
  title={Manipulation planning with Workspace Goal Regions},
  author={Dmitry Berenson and Siddhartha S. Srinivasa and Dave Ferguson and Alvaro Collet and James J. Kuffner},
  journal={2009 IEEE International Conference on Robotics and Automation},
  year={2009},
  pages={618-624}
}
We present an approach to path planning for manipulators that uses Workspace Goal Regions (WGRs) to specify goal end-effector poses. Instead of specifying a discrete set of goals in the manipulator's configuration space, we specify goals more intuitively as volumes in the manipulator's workspace. We show that WGRs provide a common framework for describing goal regions that are useful for grasping and manipulation. We also describe two randomized planning algorithms capable of planning with WGRs… CONTINUE READING
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