Pregrasp Manipulation as Trajectory Optimization
2013
Citations Over TimeTop 10% of 2013 papers
Jennifer E. King, Matthew Klingensmith, Christopher M. Dellin, Mehmet R. Doğar, Prasanna Velagapudi, Nancy S. Pollard, Siddhartha S Srinivasa
Abstract
We explore the combined planning of pregrasp manipulation and transport tasks. We formulate this problem as a simultaneous optimization of pregrasp and transport trajectories to minimize overall cost. Next, we reduce this simultaneous optimization problem to an optimization of the transport trajectory with start-point costs and demonstrate how to use physically realistic planners to compute the cost of bringing the object to these start-points. We show how to solve this optimization problem by extending functional gradient-descent methods and demonstrate our planner on two bimanual manipulation platforms.
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