Abstract
We present DARRT, a sampling-based algorithm for planning with multiple types of manipulation. Given a robot, a set of movable objects, and a set of actions for manipulating the objects, DARRT returns a sequence of manipulation actions that move the robot and objects from an initial configuration to a final configuration. The manipulation actions may be non-prehensile,meaning that the object is not rigidly attached to the robot, such as push, tilt, or pull. We describe a simple extension to the RRT algorithm to search the combined space of robot and objects and present an implementation of DARRT on the Willow Garage PR2 robot.
This material is based upon work supported by the National Science Foundation Grant No. 1122374.
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Barry, J., Hsiao, K., Kaelbling, L.P., Lozano-Pérez, T. (2013). Manipulation with Multiple Action Types. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_36
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DOI: https://doi.org/10.1007/978-3-319-00065-7_36
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