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Whole-Body Motion Planning for Robotic Manipulation of Articulated Objects
| Content Provider | Semantic Scholar |
|---|---|
| Author | Hornung |
| Copyright Year | 2012 |
| Abstract | In this thesis, we present a sampling-based approach to generate whole-body motions for a humanoid robot. In particular, the planner developed is capable to generate valid whole-body motions for body repositioning as well as for grasping and manipulation of articulated objects, such as doors or drawers. Besides the generic constraints involved in motion planning, such as joint limits and collision avoidance, motions of a humanoid robot are required to satisfy stability and closure constraints. Additionally manipulation constraints arise, once the robot has grasped the handle of an object to be manipulated. In the work at hand, our planner, which is an extended variant of the RRT-CONNECT algorithm, will be presented. In the experiments we will show that the whole-body motion planner allows to perform tasks that are not feasible by a decomposition approach that plans motions for the lower and upper body consecutively. Furthermore, examples of manipulation planning will be presented and the planner is thoroughly evaluated. The experiments have been carried out successfully on both, the simulated and real humanoid robot platform. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www2.informatik.uni-freiburg.de/~burgetf/pub/MasterThesis.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
