Robotics: Science and Systems IX
Pregrasp Manipulation as Trajectory Optimization
Jennifer King, Matthew Klingensmith, Christopher Dellin, Mehmet Dogar, Prasanna Velagapudi, Nancy Pollard, Siddhartha SrinivasaAbstract:
We explore the combined planning of pregrasp manipulation and transport tasks. We formulate this problem as a simultaneous optimization of pregrasp and transport trajectories to minimize overall cost. Next, we reduce this simultaneous optimization problem to an optimization of the transport trajectory with start-point costs and demonstrate how to use physically realistic planners to compute the cost of bringing the object to these start-points. We show how to solve this optimization problem by extending functional gradient-descent methods and demonstrate our planner on two bimanual manipulation platforms.
Bibtex:
@INPROCEEDINGS{King-RSS-13, AUTHOR = {Jennifer King AND Matthew Klingensmith AND Christopher Dellin AND Mehmet Dogar AND Prasanna Velagapudi AND Nancy Pollard AND Siddhartha Srinivasa}, TITLE = {Pregrasp Manipulation as Trajectory Optimization}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2013}, ADDRESS = {Berlin, Germany}, MONTH = {June}, DOI = {10.15607/RSS.2013.IX.015} }