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Carnegie Mellon Robotics Institute

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Abstract

We present the Constrained Bi-directional Rapidly-Exploring Random Tree (CBiRRT) algorithm for planning paths in configuration spaces with multiple constraints. This algorithm provides a general framework for handling a variety of constraints in manipulation planning including torque limits, constraints on the pose of an object held by a robot, and constraints for following workspace surfaces. CBiRRT extends the Bi-directional RRT (BiRRT) algorithm by using projection techniques to explore the configuration space manifolds that correspond to constraints and to find bridges between them. Consequently, CBiRRT can solve many problems that the BiRRT cannot, and only requires one additional parameter: the allowable error for meeting a constraint. We demonstrate the CBiRRT on a 7DOF WAM arm with a 4DOF Barrett hand on a mobile base. The planner allows this robot to perform household tasks, solve puzzles, and lift heavy objects.

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

Note: Differences from version published in ICRA 2009. Note: These changes have already been made to the PDF available on this site. 1. In algorithm 2, line 13 (q_s^old <- q_s) should be moved to line 8. (Thanks to Florian Steinhauser for catching this one) 2. Page 3, last paragraph. The sentence "If the Constraint Config() function always returns true without modifying q_s ..." should be "If the ConstrainConfig() function always returns an unmodified q_s..." (Thanks to Mike Erdmann for catching this one)

Text Reference

Dmitry Berenson, Siddhartha Srinivasa, David Ferguson, and James Kuffner, "Manipulation Planning on Constraint Manifolds," IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.

BibTeX Reference

@inproceedings{Berenson_2009_6309,
   author = "Dmitry Berenson and Siddhartha Srinivasa and David Ferguson and James Kuffner",
   title = "Manipulation Planning on Constraint Manifolds",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '09)",
   month = "May",
   year = "2009",
   Notes = "Differences from version published in ICRA 2009. Note: These changes have already been made to the PDF available on this site. 1. In algorithm 2, line 13 (q_s^old <- q_s) should be moved to line 8. (Thanks to Florian Steinhauser for catching this one) 2. Page 3, last paragraph. The sentence "If the Constraint Config() function always returns true without modifying q_s ..." should be "If the ConstrainConfig() function always returns an unmodified q_s..." (Thanks to Mike Erdmann for catching this one) "
}

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