Lecture 15: Motion Planning (part 1)

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Motion Planning (part 1)

MIT 6.881: Robotic Manipulation

Fall 2020, Lecture 15

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Charles W. Wampler and Andrew J. Sommese. Numerical algebraic geometry and algebraic kinematics. Acta Numerica, 20:469-567, 2011.

Inverse kinematics as an optimization

\min_q | q-q_{desired}|

subject to:

rich end-effector constraints
joint limits
collision avoidance
"gaze constraints"
"feet stay put"
balance (center of mass)
...

work by Hongkai Dai et al. at TRI

Danny Driess and Jung-Su Ha and Marc Toussaint, Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial
Scene Image, Robotics: Science and Systems (R:SS) 2020.

https://forms.gle/KFUQvb4Xe7bSp6x96