Carnegie Mellon University
Manipulation Planning with Caging Grasps

Rosen Diankov, Siddhartha Srinivasa, David Ferguson , and James Kuffner
2008 IEEE International Conference on Humanoid Robots, December, 2008.

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We present a novel motion planning algorithm for performing constrained tasks such as opening doors and drawers by robots such as humanoid robots or mobile manipulators. Previous work on constrained manipulation transfers rigid constraints imposed by the target object motion directly into the robot configuration space. This often unnecessarily restricts the allowable robot motion, which can prevent the robot from performing even simple tasks, particularly if the robot has limited reachability or low number of joints. Our method computes ``caging grasps'' specific to the object and uses efficient search algorithms to produce motion plans that satisfy the task constraints. The major advantages of our technique significantly increase the range of possible motions of the robot by not having to enforce rigid constraints between the end-effector and the target object. We illustrate our approach with experimental results and examples running on two robot platforms.

Sponsor: Quality of Life Technology Cen
Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Planning and Autonomy Lab and Personal Robotics
Associated Project(s): Planning for Manipulation

Text Reference
Rosen Diankov, Siddhartha Srinivasa, David Ferguson , and James Kuffner, "Manipulation Planning with Caging Grasps," 2008 IEEE International Conference on Humanoid Robots, December, 2008.

BibTeX Reference
   author = "Rosen Diankov and Siddhartha Srinivasa and David {Ferguson } and James Kuffner",
   title = "Manipulation Planning with Caging Grasps",
   booktitle = "2008 IEEE International Conference on Humanoid Robots",
   month = "December",
   year = "2008",