Journal
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Volume -, Issue -, Pages 190-196Publisher
IEEE
DOI: 10.1109/icra.2019.8793898
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Funding
- DFG Center of Excellence [EXC 277]
- DFG Transregional Research Centre CML [TRR-169]
- EU project SaraFun [644938]
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A lot of motion planning research in robotics focuses on efficient means to find trajectories between individual start and goal regions, but it remains challenging to specify and plan robotic manipulation actions which consist of multiple interdependent subtasks. The Task Constructor framework we present in this work provides a flexible and transparent way to define and plan such actions, enhancing the capabilities of the popular robotic manipulation framework MoveIt!(1) Subproblems are solved in isolation in black-box planning stages and a common interface is used to pass solution hypotheses between stages. The framework enables the hierarchical organization of basic stages using containers, allowing for sequential as well as parallel compositions. The flexibility of the framework is illustrated in multiple scenarios performed on various robot platforms, including bimanual ones.
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