Pregrasp Manipulation as Trajectory Optimization - Robotics Institute Carnegie Mellon University

Pregrasp Manipulation as Trajectory Optimization

Conference Paper, Proceedings of Robotics: Science and Systems (RSS '13), June, 2013

Abstract

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

@conference{King-2013-7735,
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 (RSS '13)},
year = {2013},
month = {June},
}