Robotics: Science and Systems IX

Pregrasp Manipulation as Trajectory Optimization

Jennifer King, Matthew Klingensmith, Christopher Dellin, Mehmet Dogar, Prasanna Velagapudi, Nancy Pollard, Siddhartha Srinivasa


We explore the combined planning of pregrasp manipulation and transport tasks. We formulate this problem as a simultaneous optimization of pregrasp and transport trajectories to minimize overall cost. Next, we reduce this simultaneous optimization problem to an optimization of the transport trajectory with start-point costs and demonstrate how to use physically realistic planners to compute the cost of bringing the object to these start-points. We show how to solve this optimization problem by extending functional gradient-descent methods and demonstrate our planner on two bimanual manipulation platforms.



    AUTHOR    = {Jennifer King AND Matthew Klingensmith AND Christopher Dellin AND Mehmet Dogar AND Prasanna Velagapudi AND Nancy Pollard AND Siddhartha Srinivasa}, 
    TITLE     = {Pregrasp Manipulation as Trajectory Optimization}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2013}, 
    ADDRESS   = {Berlin, Germany}, 
    MONTH     = {June},
    DOI       = {10.15607/RSS.2013.IX.015}