CS 326 A: Motion PlanningMovable ObjectsComposite Configuration SpaceSome Planning ApproachesNon-Prehensile ManipulationMany Open ProblemsCS 326 A: Motion CS 326 A: Motion PlanningPlanninghttp://robotics.stanford.edu/~latombe/cs326/2002Manipulation PlanningManipulation PlanningMovable ObjectsMovable ObjectsObjects that are static,but can be moved by robots, providedthey are grasped• Complement to assembly sequence planning• Manipulation tasks• Autonomous robots in environment with movable objectsComposite Configuration Composite Configuration SpaceSpaceSome dimensions of the composite configurationSome dimensions of the composite configurationspace are not directly controllablespace are not directly controllableSome Planning ApproachesSome Planning Approaches1. Combinatorial search based on a priori discretization Manipulation Graph (1st planner of 1st paper)2. Criticality-based discretization (2nd planner of 1st paper)3. Probabilistic sampling (2nd paper)•Plan for the movable objects, while checking that they follow paths where they are graspable (transfer paths)•Plan for the motion of the robots from one grasp to another (transit paths)•The approach is usually not completeNon-Prehensile Non-Prehensile ManipulationManipulationE.g.: Pushing (K. Lynch)Relation to part feeding(next class)Many Open ProblemsMany Open ProblemsInteraction of path planning and grasp planningInteraction with stability maintenanceDynamic manipulation (e.g., throw an object and catch it back with a different pose)Large gap between theory and
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