Contact-based language for robotic manipulation planning

Anuj Shah, G.A. Delgado Lopes, Esmaeil Najafi

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

    3 Citations (Scopus)


    This paper proposes a new approach to robotic manipulation planning based on the contact between a set of objects, robots and surfaces. We consider making or breaking contact as the most abstract, yet representative element of a manipulation task. Using this paradigm, a robotic manipulation planner has been developed. Given an environment with robots and objects, a manipulation graph is generated by a set of rules and the available geometrical information. Next, the object manipulation planning is formulated as a graph search problem. Paths on this graph divide a complex manipulation task into sub-tasks, followed by low-level path planning and controller assignment for each sub-task. By sequentially executing these controllers in a hybrid fashion, one achieves the overall manipulation task.

    Original languageEnglish
    Title of host publicationProceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
    EditorsDong-Soo Kwon, Chil-Goo Kang, Il Hong Suh
    Place of PublicationPiscataway, NJ, USA
    ISBN (Electronic)978-1-5090-3762-9
    Publication statusPublished - 2016
    Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
    Duration: 9 Oct 201614 Oct 2016


    Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
    Abbreviated titleIROS 2016
    Country/TerritoryKorea, Republic of
    Internet address


    • Robots
    • Planning
    • Path planning
    • Artificial intelligence
    • Search problems
    • Aerospace electronics


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