Sampling-based motion planning with dynamic intermediate state objectives: Application to throwing


Conference Paper

Dynamic manipulations require attaining high velocities at specified configurations, all the while obeying geometric and dynamic constraints. This paper presents a motion planner that constructs a trajectory that passes at an intermediate state through a dynamic objective region, which is comprised of a certain lower dimensional submanifold in the configuration/velocity state space, and then returns to rest. Planning speed and reliability are greatly improved by finding good intermediate states first, because the choice of intermediate state couples the ramp-up and ramp-down subproblems, and moreover very few (often less than 1%) intermediate states yield feasible solution trajectories. Simulation experiments demonstrate that our method quickly generates trajectories for a 6-DOF industrial manipulator throwing a small object. © 2012 IEEE.

Full Text

Duke Authors

Cited Authors

  • Zhang, Y; Luo, J; Hauser, K

Published Date

  • January 1, 2012

Published In

Start / End Page

  • 2551 - 2556

International Standard Serial Number (ISSN)

  • 1050-4729

International Standard Book Number 13 (ISBN-13)

  • 9781467314039

Digital Object Identifier (DOI)

  • 10.1109/ICRA.2012.6225319

Citation Source

  • Scopus