Prehensile Manipulation Planning: Modeling, Algorithms and Implementation

Florent Lamiraux (1) , Joseph Mirabel (1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

This paper presents a software platform taylored for prehensile manipulation planning named Humanoid Path Planner. The platform implements an original way of modelling manipulation planning through a constraint graph that represents the numerical constraints that define the manipulation problem. We propose an extension of RRT algorithm to manipulation planning that is able to solve a large variety of problems. We provide replicable experimental results via a docker image that readers may download to run the experimental results by themselves.

Mots clés: robotics; manipulation planning; constrained path planning; path planning; software platform

Domaines: Robotique [cs.RO]

Florent Lamiraux, Joseph Mirabel. Prehensile Manipulation Planning: Modeling, Algorithms and Implementation. 2020. ⟨hal-02995125v1⟩