Combined grasp and manipulation planning as a trajectory optimization problem
- Creators
- Horowitz, Matanya B.
- Burdick, Joel W.
Abstract
Many manipulation planning problems involve several related sub-problems, such as the selection of grasping points on an object, choice of hand posture, and determination of the arm's configuration and evolving trajectory. Traditionally, these planning sub-problems have been handled separately, potentially leading to sub-optimal, or even infeasible, combinations of the individually determined solutions. This paper formulates the combined problem of grasp contact selection, grasp force optimization, and manipulator arm/hand trajectory planning as a problem in optimal control. That is, the locally optimal trajectory for the manipulator, hand mechanism, and contact locations are determined during the pre-grasping, grasping, and subsequent object transport phase. Additionally, a barrier function approach allows for non-feasible grasps to be optimized, enlarging the region of convergence for the algorithm. A simulation of a simple planar object manipulation task is used to illustrate and validate the approach.
Additional Information
© 2012 IEEE. Date of Current Version: 28 June 2012. The work presented here has benefited from previous work in nonlinear optimal control with Dr. Todd Murphey. His methodology in switching time optimization and parameter estimation has been an inspiration for this work. The methods employed in path planning clearly derive from Dr. John Hauser's work on the projection operator approach to optimal control, and the corresponding author greatly appreciates the opportunity to have learned this material in a course on the subject. We also thank the reviewers for their insight and comments. This work was supported by a National Science Foundation Graduate Research Fellowship to Matanya Horowitz.Additional details
- Eprint ID
- 32244
- Resolver ID
- CaltechAUTHORS:20120703-082655800
- NSF Graduate Research Fellowship
- Created
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2012-07-06Created from EPrint's datestamp field
- Updated
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2021-11-09Created from EPrint's last_modified field