An empirical study of single-query motion planning for grasp execution

Jonathan Meijer; Qujiang Lei; Martijn Wisse

doi:10.1109/AIM.2017.8014187

An empirical study of single-query motion planning for grasp execution

Jonathan Meijer, Qujiang Lei, Martijn Wisse

Robot Dynamics

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

11 Citations (Scopus)

699 Downloads (Pure)

Abstract

This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.

Original language	English
Title of host publication	Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics
Subtitle of host publication	AIM 2017
Editors	Martin Buss, Oliver Sawodny
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	1234-1241
ISBN (Electronic)	978-1-5090-5998-0
ISBN (Print)	978-1-5090-6000-9
DOIs	https://doi.org/10.1109/AIM.2017.8014187
Publication status	Published - 2017
Event	AIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics - Munich, Germany Duration: 3 Jul 2017 → 7 Jul 2017

Conference

Conference	AIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics
Country/Territory	Germany
City	Munich
Period	3/07/17 → 7/07/17

Bibliographical note

Accepted Author Manuscript

Keywords

Planning
Benchmark testing
Libraries
Manipulators
Bidirectional control
Space exploration

Access to Document

10.1109/AIM.2017.8014187

An Empirical Study of Single-Query Motion Planning for Grasp ExecutionAccepted author manuscript, 1.11 MB

Cite this

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title = "An empirical study of single-query motion planning for grasp execution",

abstract = "This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.",

keywords = "Planning, Benchmark testing, Libraries, Manipulators, Bidirectional control, Space exploration",

author = "Jonathan Meijer and Qujiang Lei and Martijn Wisse",

note = "Accepted Author Manuscript; AIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics ; Conference date: 03-07-2017 Through 07-07-2017",

year = "2017",

doi = "10.1109/AIM.2017.8014187",

language = "English",

isbn = "978-1-5090-6000-9",

pages = "1234--1241",

editor = "Martin Buss and Oliver Sawodny",

booktitle = "Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics",

publisher = "IEEE",

address = "United States",

}

Meijer, J, Lei, Q & Wisse, M 2017, An empirical study of single-query motion planning for grasp execution. in M Buss & O Sawodny (eds), Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics: AIM 2017. IEEE, Piscataway, NJ, USA, pp. 1234-1241, AIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany, 3/07/17. https://doi.org/10.1109/AIM.2017.8014187

An empirical study of single-query motion planning for grasp execution. / Meijer, Jonathan; Lei, Qujiang; Wisse, Martijn.
Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics: AIM 2017. ed. / Martin Buss; Oliver Sawodny. Piscataway, NJ, USA: IEEE, 2017. p. 1234-1241.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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N2 - This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.

AB - This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.

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KW - Benchmark testing

KW - Libraries

KW - Manipulators

KW - Bidirectional control

KW - Space exploration

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BT - Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics

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ER -

An empirical study of single-query motion planning for grasp execution

Abstract

Conference

Bibliographical note

Keywords

Access to Document

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Cite this