HPP: a new software framework for manipulation planning
نویسندگان
چکیده
We present a new open-source software framework (called Humanoid Path Planner – HPP) for path and manipulation planning. Some features like built-in kinematic chains and implementation of non-linear constraints make the framework a good fit for humanoid robot applications. The implementation of kinematic chains takes into account the Lie-group structure (rotation in 3D space SO(3)) of robot configuration spaces. Robots and obstacles can be loaded from ROS-URDF files. Manipulation problems are modeled by a graph of constraints. At installation, a corba server is installed. the server can be controlled by python scripting to define and solve a problem.
منابع مشابه
Backward-Forward Search for Manipulation Planning Completeness Argument
Definition 1. A hybrid planning problem (HPP) 〈s0,Γ,A〉 is specified by an initial state s0 ∈ S, a finite goal set of constraints Γ, and a set of actions A. Definition 2. A finite sequence of actions (a1, a2, ..., am) ∈ A×A× ... is a solution to an HPP if and only if the corresponding sequence of states (s0, s1, ..., sm) ∈ S starting from s0 and recursively constructed using si = ai.eff (si−1) s...
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