|
HPP: a software framework for manipulation
planning| old_uid | 15722 |
|---|
| title | HPP: a software framework for manipulation
planning |
|---|
| start_date | 2015/06/02 |
|---|
| schedule | 10h30 |
|---|
| online | no |
|---|
| summary | I will present an 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. At installation, a CORBA server
is installed. The server can be controlled by python scripting to easily define and solve a motion and manipu-
lation problems. The main contribution of the presented work is a software architecture enabling developers
to quickly define a manipulation problem. Using the theoretical results from previous works, a manipulation
problem can be modelled with a graph of constraints that is introduced. With a non-linear constraints solver,
an RRT-based algorithm makes use of the graph of constraints to generated a valid manipulation path.
The framework has been successfully tried on various cases: PR2 manipulation a box, HRP-2 walking quasi-
statically, UR5 end-effector following a line. These examples will be accompanied with some details to show
how easily such problems can be defined with our framework. |
|---|
| responsibles | Baumard |
|---|
| |
|