Timed-Elastic Bands for Manipulation Motion Planning

Magyar, B; Tsiogkas, N; Deray, J; Pfeiffer, S; Lane, D

Timed-Elastic Bands for Manipulation Motion Planning

Magyar, B Tsiogkas, N Deray, J Pfeiffer, S

Lane, D

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Publication Type:: Journal Article
Citation:: IEEE Robotics and Automation Letters, 2019, 4 (4), pp. 3513 - 3520
Issue Date:: 2019-10-01

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Field	Value	Language
dc.contributor.author	Magyar, B	en_US
dc.contributor.author	Tsiogkas, N	en_US
dc.contributor.author	Deray, J	en_US
dc.contributor.author	Pfeiffer, S https://orcid.org/0000-0002-6988-0400	en_US
dc.contributor.author	Lane, D	en_US
dc.date.issued	2019-10-01	en_US
dc.identifier.citation	IEEE Robotics and Automation Letters, 2019, 4 (4), pp. 3513 - 3520	en_US
dc.identifier.uri	http://hdl.handle.net/10453/137707
dc.description.abstract	© 2019 IEEE. Motion planning is one of the main problems studied in the field of robotics. However, it is still challenging for the state-of-the-art methods to handle multiple conditions that allow better paths to be found. For example, considering joint limits, path smoothness and a mixture of Cartesian and joint-space constraints at the same time pose a significant challenge for many of them. This letter proposes to use timed-elastic bands for representing the manipulation motion planning problem, allowing to apply continuously optimized constraints to the problem during the search for a solution. Due to the nature of our method, it is highly extensible with new constraints or optimization objectives. The proposed approach is compared against state-of-the-art methods in various manipulation scenarios. The results show that it is more consistent and less variant, while performing in a comparable manner to that of the state of the art. This behavior allows the proposed method to set a lower-bound performance guarantee for other methods to build upon.	en_US
dc.relation.ispartof	IEEE Robotics and Automation Letters	en_US
dc.relation.isbasedon	10.1109/LRA.2019.2927956	en_US
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	Timed-Elastic Bands for Manipulation Motion Planning	en_US
dc.type	Journal Article
utslib.citation.volume	4	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	open_access	*
utslib.copyright.embargo	2021-10-01T00:00:00+1000
pubs.issue	4	en_US
pubs.publication-status	Published	en_US
pubs.volume	4	en_US

Abstract:

© 2019 IEEE. Motion planning is one of the main problems studied in the field of robotics. However, it is still challenging for the state-of-the-art methods to handle multiple conditions that allow better paths to be found. For example, considering joint limits, path smoothness and a mixture of Cartesian and joint-space constraints at the same time pose a significant challenge for many of them. This letter proposes to use timed-elastic bands for representing the manipulation motion planning problem, allowing to apply continuously optimized constraints to the problem during the search for a solution. Due to the nature of our method, it is highly extensible with new constraints or optimization objectives. The proposed approach is compared against state-of-the-art methods in various manipulation scenarios. The results show that it is more consistent and less variant, while performing in a comparable manner to that of the state of the art. This behavior allows the proposed method to set a lower-bound performance guarantee for other methods to build upon.

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http://hdl.handle.net/10453/137707