Carnegie Mellon University
The
Nonprehensile Whole Arm Rearrangement Planning on Physics Manifolds

Jennifer King, Joshua Haustein, Siddhartha Srinivasa, and Tamim Asfour
International Conference on Robotics and Automation, May, 2015.


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Abstract
We present a randomized kinodynamic planner that solves rearrangement planning problems. We embed a physics model into the planner to allow reasoning about interaction with objects in the environment. By carefully selecting this model, we are able to reduce our state and action space, gaining tractability in the search. The result is a planner capable of generating trajectories for full arm manipulation and simultaneous object interaction. We demonstrate the ability to solve more rearrangement by pushing tasks than existing primitive based solutions. Finally, we show the plans we generate are feasible for execution on a real robot.

Keywords
nonprehensile manipulation, rearrangement planning, randomized planning

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
Jennifer King, Joshua Haustein, Siddhartha Srinivasa, and Tamim Asfour, "Nonprehensile Whole Arm Rearrangement Planning on Physics Manifolds," International Conference on Robotics and Automation, May, 2015.

BibTeX Reference
@inproceedings{King_2015_7942,
   author = "Jennifer King and Joshua Haustein and Siddhartha Srinivasa and Tamim Asfour",
   title = "Nonprehensile Whole Arm Rearrangement Planning on Physics Manifolds",
   booktitle = "International Conference on Robotics and Automation",
   month = "May",
   year = "2015",
}