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Humanoid manipulation planning using backward-forward search

Grey, Michael X. and Garrett, Caelan R. and Liu, C. Karen and Ames, Aaron D. and Thomaz, Andrea L. (2016) Humanoid manipulation planning using backward-forward search. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 5467-5473. ISBN 978-1-5090-3762-9. https://resolver.caltech.edu/CaltechAUTHORS:20190205-155646129

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Abstract

This paper explores combining task and manipulation planning for humanoid robots. Existing methods tend to either take prohibitively long to compute for humanoids or artificially limit the physical capabilities of the humanoid platform by restricting the robot's actions to predetermined trajectories. We present a hybrid planning system which is able to scale well for complex tasks without relying on predetermined robot actions. Our system utilizes the hybrid backward-forward planning algorithm for high-level task planning combined with humanoid primitives for standing and walking motion planning. These primitives are designed to be efficiently computable during planning, despite the large amount of complexity present in humanoid robots, while still informing the task planner of the geometric constraints present in the problem. Our experiments apply our method to simulated pick-and-place problems with additional gate constraints impacting navigation using the DRC-HUBO1 robot. Our system is able to solve puzzle-like problems on a humanoid within a matter of minutes.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2016.7759804DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. This work was supported in part by DARPA grant D15AP00006, NSF grants 1420927 and 1523767, ONR grant N00014-14-1-0486, and ARO grant W911NF1410433.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)D15AP00006
NSFIIS-1420927
NSFIIS-1523767
Office of Naval Research (ONR)N00014-14-1-0486
Army Research Office (ARO)W911NF1410433
Record Number:CaltechAUTHORS:20190205-155646129
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190205-155646129
Official Citation:M. X. Grey, C. R. Garrett, C. K. Liu, A. D. Ames and A. L. Thomaz, "Humanoid manipulation planning using backward-forward search," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016, pp. 5467-5473. doi: 10.1109/IROS.2016.7759804
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92698
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:06 Feb 2019 00:07
Last Modified:03 Oct 2019 20:47

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