Agboh, WC orcid.org/0000-0002-0242-0215 and Dogar, MR orcid.org/0000-0002-6896-5461 (2019) Real-Time Online Re-Planning for Grasping Under Clutter and Uncertainty. In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). 2018 IEEE-RAS (Humanoids 2018), 06-09 Nov 2018, Beijing, China. IEEE ISBN 978-1-5386-7283-9
Abstract
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain, however, is likely to fail, since it is not possible to model the dynamics of the multi-body multi-contact physical system with enough accuracy, neither is it reasonable to expect robots to know the exact physical properties of objects, such as frictional, inertial, and geometrical. Therefore, we propose an online re-planning approach for grasping through clutter. The main challenge is the long planning times this domain requires, which makes fast re-planning and fluent execution difficult to realize. In order to address this, we propose an easily parallelizable stochastic trajectory optimization based algorithm that generates a sequence of optimal controls. We show that by running this optimizer only for a small number of iterations, it is possible to perform real time re-planning cycles to achieve reactive manipulation under clutter and uncertainty.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | ©2018 IEEE. This article is protected by copyright. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | robotics; robotic manipulation planning; physics-based manipulation; manipulation in cluttter |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 22 Oct 2018 08:49 |
Last Modified: | 28 Feb 2019 15:02 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/HUMANOIDS.2018.8625041 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:137366 |