ICRA 2019poster44 citations
Modeling and Planning Manipulation in Dynamic Environments
Philipp S. Schmitt, Florian Wirnshofer, Kai M. Wurm, Georg v. Wichert, Wolfram Burgard
Abstract
In this paper we propose a new model for sequential manipulation tasks that also considers robot dynamics and time-variant environments. From this model we automatically derive constraint-based controllers and use them as steering functions in a kinodynamic manipulation planner. The resulting plan is not a trajectory but a sequence of controllers that react online to disturbances. We validated our approach in simulation and on a real robot. In the experiments our approach plans and executes dual-robot manipulation tasks with online collision avoidance and reactions to estimates of object poses.
BibTeX
@inproceedings{icra2019_modelingandplann,
title = {Modeling and Planning Manipulation in Dynamic Environments},
author = {Philipp S. Schmitt and Florian Wirnshofer and Kai M. Wurm and Georg v. Wichert and Wolfram Burgard},
booktitle = {ICRA 2019},
year = {2019}
}