Performance study of single-query motion planning for grasp execution using various manipulators

Jonathan Meijer; Qujiang Lei; Martijn Wisse

Performance study of single-query motion planning for grasp execution using various manipulators

Jonathan Meijer, Qujiang Lei, Martijn Wisse

Robot Dynamics

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

14 Citations (Scopus)

127 Downloads (Pure)

Abstract

This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the planners is measured by means of solved runs, computing time and path length. Based on the results, recommendations are made for planner choice that shows high performance for the used manipulators.

Original language	English
Title of host publication	Proceedings of the18th International Conference on Advanced Robotics
Subtitle of host publication	ICAR 2017
Editors	Max Q.H. Meng, Hongliang Ren, Shuang Song
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	450-457
ISBN (Print)	978-1-5386-3157-7
Publication status	Published - 2017
Event	ICAR 2017: 18th International Conference on Advanced Robotics - Hong Kong, China Duration: 10 Jul 2017 → 12 Jul 2017

Conference

Conference	ICAR 2017: 18th International Conference on Advanced Robotics
Country/Territory	China
City	Hong Kong
Period	10/07/17 → 12/07/17

Bibliographical note

Accepted Author Manuscript

Keywords

planning
manipulators
measurements
libraries
bidirectional control
grippers

Access to Document

Performance_Study_of_Single_Query_Motion_Planning_for_Grasp_Execution_Using_Various_ManipulatorsAccepted author manuscript, 1.13 MB

Cite this

@inproceedings{931871f8b5be42fdab10499725580ce6,

title = "Performance study of single-query motion planning for grasp execution using various manipulators",

abstract = "This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the planners is measured by means of solved runs, computing time and path length. Based on the results, recommendations are made for planner choice that shows high performance for the used manipulators.",

keywords = "planning, manipulators, measurements, libraries, bidirectional control, grippers",

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

note = "Accepted Author Manuscript; ICAR 2017: 18th International Conference on Advanced Robotics ; Conference date: 10-07-2017 Through 12-07-2017",

year = "2017",

language = "English",

isbn = "978-1-5386-3157-7",

pages = "450--457",

editor = "Meng, {Max Q.H.} and Hongliang Ren and Shuang Song",

booktitle = "Proceedings of the18th International Conference on Advanced Robotics",

publisher = "IEEE",

address = "United States",

}

Meijer, J, Lei, Q & Wisse, M 2017, Performance study of single-query motion planning for grasp execution using various manipulators. in MQH Meng, H Ren & S Song (eds), Proceedings of the18th International Conference on Advanced Robotics : ICAR 2017. IEEE, Piscataway, NJ, USA, pp. 450-457, ICAR 2017: 18th International Conference on Advanced Robotics, Hong Kong, China, 10/07/17.

Performance study of single-query motion planning for grasp execution using various manipulators. / Meijer, Jonathan; Lei, Qujiang; Wisse, Martijn.
Proceedings of the18th International Conference on Advanced Robotics : ICAR 2017. ed. / Max Q.H. Meng; Hongliang Ren; Shuang Song. Piscataway, NJ, USA: IEEE, 2017. p. 450-457.

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

TY - GEN

T1 - Performance study of single-query motion planning for grasp execution using various manipulators

AU - Meijer, Jonathan

AU - Lei, Qujiang

AU - Wisse, Martijn

N1 - Accepted Author Manuscript

PY - 2017

Y1 - 2017

N2 - This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the planners is measured by means of solved runs, computing time and path length. Based on the results, recommendations are made for planner choice that shows high performance for the used manipulators.

AB - This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the planners is measured by means of solved runs, computing time and path length. Based on the results, recommendations are made for planner choice that shows high performance for the used manipulators.

KW - planning

KW - manipulators

KW - measurements

KW - libraries

KW - bidirectional control

KW - grippers

UR - http://resolver.tudelft.nl/uuid:931871f8-b5be-42fd-ab10-499725580ce6

M3 - Conference contribution

SN - 978-1-5386-3157-7

SP - 450

EP - 457

BT - Proceedings of the18th International Conference on Advanced Robotics

A2 - Meng, Max Q.H.

A2 - Ren, Hongliang

A2 - Song, Shuang

PB - IEEE

CY - Piscataway, NJ, USA

T2 - ICAR 2017: 18th International Conference on Advanced Robotics

Y2 - 10 July 2017 through 12 July 2017

ER -

Performance study of single-query motion planning for grasp execution using various manipulators

Abstract

Conference

Bibliographical note

Keywords

Access to Document

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