A Framework for Joint Grasp and Motion Planning in Confined Spaces

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00375956" target="_blank" >RIV/68407700:21230/24:00375956 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/RoMoCo60539.2024.10604306" target="_blank" >https://doi.org/10.1109/RoMoCo60539.2024.10604306</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/RoMoCo60539.2024.10604306" target="_blank" >10.1109/RoMoCo60539.2024.10604306</a>

Result language

angličtina

Original language name

A Framework for Joint Grasp and Motion Planning in Confined Spaces

Original language description

Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are interested in scenarios where the objects are in confined spaces and hence particularly difficult to reach. Planning how the robot approaches the object becomes a major part of the challenge, giving rise to methods for joint grasp and motion planning. The framework proposed in this paper provides 20 benchmark scenarios with systematically increasing difficulty, realistic objects with precomputed grasp annotations, and tools to create and share more scenarios. We further provide two baseline planners and evaluate them on the scenarios, demonstrating that the proposed difficulty levels indeed offer a meaningful progression. We invite the research community to build upon this framework by making all components publicly available as open source.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2024

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

2024 13th International Workshop on Robot Motion and Control (RoMoCo)

ISBN

979-8-3503-9397-2

ISSN

2575-5536

e-ISSN

2575-5579

Number of pages

7

Pages from-to

96-102

Publisher name

IEEE

Place of publication

Piscataway

Event location

Poznan

Event date

Jul 2, 2024

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

001285154500005