Motion Planning

Part I: Optimization-based

MIT 6.800/6.843:

Robotic Manipulation

Fall 2021, Lecture 15

Follow live at https://slides.com/d/CnDN410/live

(or later at https://slides.com/russtedrake/fall21-lec15)

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.

Lecture 15: Motion Planning I

By russtedrake

Lecture 15: Motion Planning I

MIT Robotic Manipulation Fall 2021 http://manipulation.csail.mit.edu

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