Manipulation Planning with Workspace Goal Regions

Dmitry Berenson, Siddhartha Srinivasa, David Ferguson , Alvaro Collet Romea, and James Kuffner
IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.


Download
  • Adobe portable document format (pdf) (1MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
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. The first is an extension of RRT-JT that interleaves exploration using a Rapidly-exploring Random Tree (RRT) with exploitation using Jacobian-based gradient descent toward WGR samples. The second is the IKBiRRT algorithm, which uses a forward-searching tree rooted at the start and a backward-searching tree that is seeded by WGR samples. We demonstrate both simulation and experimental results for a 7DOF WAM arm with a mobile base performing reaching and pick-and-place tasks. Our results show that planning with WGRs provides an intuitive and powerful method of specifying goals for a variety of tasks without sacrificing efficiency or desirable completeness properties.

Notes
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): Personal Robotics

Text Reference
Dmitry Berenson, Siddhartha Srinivasa, David Ferguson , Alvaro Collet Romea, and James Kuffner, "Manipulation Planning with Workspace Goal Regions," IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.

BibTeX Reference
@inproceedings{Berenson_2009_6308,
   author = "Dmitry Berenson and Siddhartha Srinivasa and David {Ferguson } and Alvaro {Collet Romea} and James Kuffner",
   title = "Manipulation Planning with Workspace Goal Regions",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '09)",
   month = "May",
   year = "2009",
}