Manipulation Planning with Multimodal End Point Optimization for Obtaining Multiple Solutions

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  • Osa Takayuki
    Department of Human Intelligence Systems, Graduate School of Life Science and Engineering, Kyushu Institute of Technology RIKEN, Center for Advanced Intelligence Project
  • Sato Masaya
    Furukawa Electric Co., Ltd.
  • Moriki Kazuya
    Furukawa Electric Co., Ltd.
  • Sugiyama Satoshi
    Furukawa Electric Co., Ltd.
  • Sugita Naohiko
    Department of Mechanical Engineering, Graduate School of Engineering, the University of Tokyo
  • Nakao Masayuki
    Department of Mechanical Engineering, Graduate School of Engineering, the University of Tokyo

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  • 端点の多峰性最適化による複数の解が導出可能な軌道計画法
  • タンテン ノ タホウセイ サイテキカ ニ ヨル フクスウ ノ カイ ガ ドウシュツ カノウ ナ キドウ ケイカクホウ

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Abstract

<p>Motion planning for robotics manipulation is an essential component for automating various tasks. In this study we discuss optimization-based motion planning methods for robotic manipulation. The optimization-based method can compute smooth and collision-free trajectories with relatively short computational cost. Although existing methods are often designed to output a single solution, the objective function is often multimodal and there exist multiple solutions to achieve a given task. On such a task, obtaining multiple solutions gives a user an opportunity to choose one of the solutions based on factors which are not encoded in the objective function. To address this issue, we propose a motion planning framework that finds multiple solutions. The proposed method is validated in simulated environments with a four-link manipulator in 2D space and a 6 DoFs manipualtor in 3D space. </p>

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