Manipulation with diverse actions

We define the Diverse Action Manipulation (DAMA) problem in which we are given a mobile robot, a set of movable objects, and a set of diverse, possibly non-prehensile manipulation actions, and the objective is to find a sequence of actions that moves each of the objects to a goal configuration. We argue that classic sampling-based techniques cannot solve DAMA problems because of the need to move through lower-dimensional subspaces, and we give two sampling-based algorithms for this problem, DARRT and DARRTCONNECT, based on the RRT and RRTCONNECT algorithms respectively. We also show that the DAMA problem can be framed as a multi-modal planning problem [14] and describe a hierarchical algorithm, DARRTH (CONNECT), that takes advantage of this multi-modal nature. This algorithm finds a high-level sequence of transfer manipulations by planning a path only for objects in the domain. It then attempts to achieve each transfer manipulation individually. We present experimental results for all four algorithms for a set of nine problems in two complicated mobile manipulation domains. We show that the bi-directional algorithms are faster than their forward search counterparts and that the hierarchical algorithms perform better than the monolithic searches. We also formally define the conditions under which DARRT is exponentially convergent and prove that these conditions hold for two example manipulation domains, one of which includes nonprehensile manipulation.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2013

Author dc:creator

• Barry, Jennifer L. (Jennifer Lynn)

Advisor dc:contributor.advisor

• Leslie Pack Kaelbling and Tomás Lozano-Pérez.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/82342

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/82342