The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Goal sets are omnipresent in manipulation: picking up objects, placing them on counters or in bins, handing them off — all of these tasks encompass continuous sets of goals. This paper describes how to design optimal trajectories that exploit goal sets. We extend CHOMP (Covariant Hamiltonian Optimization for Motion Planning), a recent trajectory optimizer that has proven effective on high-dimensional problems, to handle trajectory-wide constraints, and relate the solution to the intuition of taking unconstrained steps and subsequently projecting them onto the constraints. We then show how this projection simpliﬁes for goal sets (i.e. constraints that affect only the end-point). Finally, we present experiments on a personal robotics platform that show the importance of exploiting goal sets in trajectory optimization for day-to-day manipulation tasks.

Keywords

manipulation planning, trajectory optimization, goal sets, trajectrory constraints, CHOMP

Notes

Sponsor: Partially supported by Intel Labs Pittsburgh and the National Science Foundation

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

Anca Dragan, Nathan Ratliff, and Siddhartha Srinivasa, "Manipulation Planning with Goal Sets Using Constrained Trajectory Optimization," 2011 IEEE International Conference on Robotics and Automation, May, 2011.

BibTeX Reference

@inproceedings{Dragan_2011_6810,
   author = "Anca Dragan and Nathan Ratliff and Siddhartha Srinivasa",
   title = "Manipulation Planning with Goal Sets Using Constrained Trajectory Optimization",
   booktitle = "2011 IEEE International Conference on Robotics and Automation",
   month = "May",
   year = "2011",
}

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