Class 15 (Wednesday, March 1) :
MANIPULATION PLANNING
- Topics:
- Movable objects and composite configuration space
- Transit and transfer paths
- Manipulation graph
- Required Readings:
- A simple planner in 2-D workspace:
Y. Koga and J.C. Latombe.
On Multi-Arm Manipulation Planning.
Proceedings of the IEEE
International Conference on Robotics and Automation,
pages 945-952, 1994
(ps file).
- A probabilistic roadmap planner:
C.J. Nielsen and L.E. Kavraki.
A Two Level Fuzzy PRM for Manipulation Planning.
Manuscript, 1999.
(ps file).
- Other Readings:
- R. Alami, J.P. Laumond, and T. Simeon.
Two Manipulation Planning Algorithms.
In Algorithmic Foundations of Robotics, K. Goldberg et al. (eds.).
A K Peters, Wellesley (MA), pages 109-125. 1995.
- Manipulation planning for digital actor:
Y. Koga, K. Kondo, J. Kuffner, and J.C. Latombe.
Planning Motions with Intentions.
Proceedings of SIGGRAPH'94, pages 395-408, 1995
(ps file)
- Powerpoint slides -- Intro
- Powerpoint slides --
Multi arm paper
- Powerpoint slides --
Manipulation planning prm paper