152 search results - page 1 / 31 » Combined Task and Motion Planning for Mobile Manipulation |
AIPS
2010
13 years 7 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...
ICRA
2010
IEEE
13 years 3 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
13 years 11 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
13 years 11 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
13 years 11 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...