Prehensile Manipulation Planning: Modelling, Algorithms and Implementation
Florent Lamiraux, Joseph Mirabel · 2020
This paper presents a software platform taylored for prehensile manipulation planning named Humanoid Path Planner. The platform implements an original way of modelling manipulation planning through a constraint graph that represents the numerical constraints that define the manipulation problem. We propose an extension of RRT algorithm to manipulation planning that is able to solve a large variety of problems. We provide replicable experimental results via a docker image that readers may download to run the experimental results by themselves.