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

Jonathan Meijer, Qujiang Lei, Martijn Wisse

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

4 Citations (Scopus)
158 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 languageEnglish
Title of host publicationProceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics
Subtitle of host publicationAIM 2017
EditorsMartin Buss, Oliver Sawodny
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages1234-1241
ISBN (Electronic)978-1-5090-5998-0
ISBN (Print)978-1-5090-6000-9
DOIs
Publication statusPublished - 2017
EventAIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics - Munich, Germany
Duration: 3 Jul 20177 Jul 2017

Conference

ConferenceAIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics
CountryGermany
CityMunich
Period3/07/177/07/17

Keywords

  • Planning
  • Benchmark testing
  • Libraries
  • Manipulators
  • Bidirectional control
  • Space exploration

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  • Cite this

    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 (pp. 1234-1241). IEEE. https://doi.org/10.1109/AIM.2017.8014187