Paper Title: Combining Planning Techniques for Manipulation using Realtime Perception

• Authors: Ioan Sucan, Mrinal Kalakrishnan, Sachin Chitta
• Forum: ICRA 2010

Citation

@inproceedings {Sucan2010,
        title = {Combining Planning Techniques for Manipulation using Realtime Perception},
        booktitle = {International Conference on Robotics and Automation},
        series = {},
        year = {2010},
        author = {Ioan Alexandru Sucan and Mrinal Kalakrishnan and Sachin Chitta}
}

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Photos and Video Results

Video

• Combined task video

Photo

Documentation

Both the CHOMP motion planner and the OMPL planning library used in this paper are available as part of the arm navigation stack. The experiments in this paper can be reproduced by invoking the two planner separately using the action interface to the move arm node.

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Download instructions for the arm_navigation stacks are available on the arm navigation stack pages.