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Journal Articles IEEE Transactions on Robotics Year : 2022

Prehensile Manipulation Planning: Modeling, Algorithms and Implementation

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Abstract

This paper presents a software platform tailored for prehensile manipulation planning named Humanoid Path Planner. The platform implements an original way of modeling manipulation planning through a constraint graph that represents the numerical constraints that define the manipulation problem. We propose an extension of the RRT algorithm to manipulation planning that is able to solve a large variety of problems. We provide replicable experimental results via a docker image that readers may download to run the experimental results by themselves.
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Dates and versions

hal-02995125 , version 1 (09-11-2020)
hal-02995125 , version 2 (24-11-2021)

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Florent Lamiraux, Joseph Mirabel. Prehensile Manipulation Planning: Modeling, Algorithms and Implementation. IEEE Transactions on Robotics, 2022, 38 (4), pp.2370-2388. ⟨10.1109/TRO.2021.3130433⟩. ⟨hal-02995125v2⟩
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