152 search results - page 1 / 31 » Combined Task and Motion Planning for Mobile Manipulation |
AIPS
2010
13 years 9 months ago
2010
We present a hierarchical planning system and its application to robotic manipulation. The novel features of the system are: 1) it finds high-quality kinematic solutions to task-l...
18
Voted
ICRA
2010
IEEE
13 years 5 months ago
2010
IEEE
Abstract— This paper describes a hierarchical planner deployed on a mobile manipulation system. The main idea is a two-level hierarchy combining a global planner which provides r...
IROS
2007
IEEE
14 years 1 months ago
2007
IEEE
— This paper introduces a planning method for handling furniture which exists in real world. We propose a method which is easily expandable its handle able furniture such as clos...
IROS
2009
IEEE
14 years 1 months ago
2009
IEEE
— In this paper, we present efficient solutions for planning motions of dual-arm manipulation and re-grasping tasks. Motion planning for such tasks on humanoid robots with a hig...
IROS
2009
IEEE
14 years 1 months ago
2009
IEEE
Abstract— We consider the problem of planning collisionfree motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approac...