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

Jonathan Meijer, Qujiang Lei, Martijn Wisse

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

5 Citations (Scopus)
45 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 languageEnglish
Title of host publicationProceedings of the18th International Conference on Advanced Robotics
Subtitle of host publicationICAR 2017
EditorsMax Q.H. Meng, Hongliang Ren, Shuang Song
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages450-457
ISBN (Print)978-1-5386-3157-7
Publication statusPublished - 2017
EventICAR 2017: 18th International Conference on Advanced Robotics - Hong Kong, China
Duration: 10 Jul 201712 Jul 2017

Conference

ConferenceICAR 2017: 18th International Conference on Advanced Robotics
CountryChina
CityHong Kong
Period10/07/1712/07/17

Keywords

  • planning
  • manipulators
  • measurements
  • libraries
  • bidirectional control
  • grippers

Fingerprint Dive into the research topics of 'Performance study of single-query motion planning for grasp execution using various manipulators'. Together they form a unique fingerprint.

Cite this