This paper describes a hierarchical planner deployed on a mobile manipulation system. The main idea is a two-level hierarchy combining a global planner which provides rough guidance to a local planner. We place a premium on fast response, so the global planner achieves speed by using a very rough approximation of the robot kinematics, and the local planner begins execution of the next action even without considering subsequent actions in detail, instead relying on the guidance of the global planner. The system exhibits few planning delays, and yet is surprisingly effective at planning collision free motions. The system is deployed on HERB 20, combining a Segway mobile platform, a WAM arm, and a Barrett hand. The navigation and manipulation components have been tested on the real robot, and the task of simultaneously approaching and grasping a bottle on a countertop was demonstrated in simulation.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments


    Contributors:
    R. A. Knepper (author) / S. S. Inivasa (author) / M. T. Mason (author)

    Publication date :

    2010


    Size :

    7 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    Planning of indoor construction tasks for mobile manipulators

    Haschke, Tobias | TIBKAT | 2023

    Free access

    Cooperative Tasks in Mobile Manipulation Systems

    Khatib, O. / Yokoi, K. / Casal, A. et al. | British Library Conference Proceedings | 1998


    Classifying Compliant Manipulation Tasks for Automated Planning in Robotics

    Leidner, Daniel / Borst, Christoph / Dietrich, Alexander et al. | German Aerospace Center (DLR) | 2015

    Free access

    Motion primitive based random planning for loco-manipulation tasks

    SETTIMI, ALESSANDRO / CAPORALE, DANILO / Przemyslaw, Kryczka et al. | BASE | 2016

    Free access

    ReachBot: A Small Robot for Large Mobile Manipulation Tasks

    Schneider, Stephanie / Bylard, Andrew / Chen, Tony G. et al. | IEEE | 2022