Manipulation Planning

Posted on September 6th, 2013

We demonstrate the applicability and effectiveness of our planning and monitoring framework using two pantograph robots (two degrees-of-freedom planar parallel manipulators) to perform a complex manipulation task that requires concurrent execution of actions.

Scenario 1 involves no failures due to incomplete knowledge (such as unknown obstacles) or uncertainty (such as human interventions).

Scenario 2 involves a collision of a payload (while being carried) with an unknown obstacles.

Scenario 3 involves a human intervention that changes the position of a payload.

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