Manipulation Planning on Constraint Manifolds

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

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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.

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

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)},
year = {2009},
month = {May},
} 2017-09-13T10:41:13-04:00