NDLI: Learning to plan for constrained manipulation from demonstrations

Content Provider	Springer Nature Link
Author	Phillips, Mike Hwang, Victor Chitta, Sachin Likhachev, Maxim
Copyright Year	2015
Abstract	Motion planning in high dimensional state spaces, such as for mobile manipulation, is a challenging problem. Constrained manipulation, e.g., opening articulated objects like doors or drawers, is also hard since sampling states on the constrained manifold is expensive. Further, planning for such tasks requires a combination of planning in free space for reaching a desired grasp or contact location followed by planning for the constrained manipulation motion, often necessitating a slow two step process in traditional approaches. In this work, we show that combined planning for such tasks can be dramatically accelerated by providing user demonstrations of the constrained manipulation motions. In particular, we show how such demonstrations can be incorporated into a recently developed framework of planning with experience graphs which encode and reuse previous experiences. We focus on tasks involving articulation constraints, e.g., door opening or drawer opening, where the motion of the object itself involves only a single degree of freedom. We provide experimental results with the PR2 robot opening a variety of such articulated objects using our approach, using full-body manipulation (after receiving kinesthetic demonstrations). We also provide simulated results highlighting the benefits of our approach for constrained manipulation tasks.
Starting Page	109
Ending Page	124
Page Count	16
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	40
Issue Number	1
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2015-06-21
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Motion planning Manipulation planning Experience graphs Robotics and Automation Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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