Pregrasp Manipulation as Trajectory Optimization
Jennifer E. King, Matthew Klingensmith, Christopher M. Dellin, Mehmet R. Doğar, Prasanna Velagapudi, Nancy S. Pollard, Siddhartha S Srinivasa · 2013
We explore the combined planning of pregrasp manipulation and transport tasks.We formulate this problem as a simultaneous optimization of pregrasp and transport trajectories to minimize overall cost.Next, we reduce this simultaneous optimization problem to an optimization of the transport trajectory with start-point costs and demonstrate how to use physically realistic planners to compute the cost of bringing the object to these start-points.We show how to solve this optimization problem by extending functional gradient-descent methods and demonstrate our planner on two bimanual manipulation platforms.