Robotics: Science and Systems IX

Pregrasp Manipulation as Trajectory Optimization

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

Abstract:

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.

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Bibtex:

  
@INPROCEEDINGS{King-RSS-13, 
    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} 
}