Planning Collision- Free Motions for Pick-and-Place Operations
By R. Brooks. 1983
An efficient algorithm that finds collision-free paths for a manipulator with five or six revolute joints is described. It solves the problem for four-degree-of-freedom pick-and-place operations. Examples are given of paths found by the algorithm in tightly cluttered workspaces. The algorithm first describes free space in two ways: as freeways for the hand and payload ensemble and as freeways for the upper arm. Freeways match volumes swept out by manipulator motions and can be "inverted" to find a class of topologically equivalent path segments. The two freeway spaces are searched concurrently under projection of constraints deter mined by motion of the forearm.
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- Sergey Levine
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- Pieter Abbeel
- Chelsea Finn
- Lerrel Pinto
- Trevor Darrell
- Yoshua Bengio
- Jitendra Malik
Citations in the corpus
- Learning to push by grasping: Using multiple tasks for effective learning (2016, background): “Analytical frameworks such as [1], [2], [3] focus on defining (c) via mathematical framework.”
- Autonomously Acquiring Instance-Based Object Models from Experience (2015, background): “Pick-and-place has been studied since the early days of robotics [2, 23].”
- Learning to Manipulate Deformable Objects without Demonstrations (2019, methodology): “The pick and place action space has had a rich history in planning with rigid objects [4, 30].”