An Optimization Approach to Planning for Mobile Manipulation

Dmitry Berenson, Howie Choset, and James Kuffner
IEEE International Conference on Robotics and Automation (ICRA) 2008, May, 2008, pp. 1187-1192.


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Abstract
We present an optimization-based approach to grasping and path planning for mobile manipulators. We focus on pick-and-place operations, where a given object must be moved from its start configuration to its goal configuration by the robot. Given only the start and goal configurations of the object and a model of the robot and scene, our algorithm finds a grasp and a trajectory for the robot that will bring the object to its goal configuration. The algorithm consists of two phases: optimization and planning. In the optimization phase, the optimal robot configurations and grasp are found for the object in its start and goal configurations using a co-evolutionary algorithm. In the planning phase, a path is found connecting the two robot configurations found by the optimization phase using Rapidly-Exploring Random Trees (RRTs). We benchmark our algorithm and demonstrate it on a 10 DOF mobile manipulator performing complex pick-and-place tasks in simulation.

Keywords
mobile manipulation, genetic algorithms, path planning, grasping

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Planning and Autonomy Lab
Associated Project(s): Planning for Manipulation
Number of pages: 6

Text Reference
Dmitry Berenson, Howie Choset, and James Kuffner, "An Optimization Approach to Planning for Mobile Manipulation," IEEE International Conference on Robotics and Automation (ICRA) 2008, May, 2008, pp. 1187-1192.

BibTeX Reference
@inproceedings{Berenson_2008_6076,
   author = "Dmitry Berenson and Howie Choset and James Kuffner",
   title = "An Optimization Approach to Planning for Mobile Manipulation",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA) 2008",
   pages = "1187-1192",
   month = "May",
   year = "2008",
}