Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, Russ Tedrake
Constrained Bimanual Motion Planning
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Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
An Illustrative Example
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Sampling-Based Planning
Trajectory Optimization
Existing Approaches
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
1) Parametrizing the Constrained Configuration Space
2) Planning with the Parametrization
Our Approach (High-Level)
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Kinematics Are Not Arbitrary
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Analytic IK in General
IKFast
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Kinematic Redundancy
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Parametrizing the Constraint Manifold
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Parametrizing the Constraint Manifold
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
GCSTrajOpt
Graph of Convex Sets Trajectory Optimization
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Previous Best Option: Approximations
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Random Walk around a Region
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
IRIS: Getting Convex Sets
\(\textrm{FK denotes the Forward Kinematics Map}\)
\(\textrm{Configuration Space}\)
\(\textrm{Task Space}\)
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Constrained IRIS
- Grow an IRIS region in the parametrized space
- Multiple sources of hyperplanes
- Subordinate arm joint limit violations
- Reachability violations
- Collisions
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Constrained Planning with GCSTrajOpt
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Path Lengths in Configuration Space
(Asterisk Denotes Collisions)
Online Planning Time (s)
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
- Can treat the entries of the end-effector transform (e.g. grasp distance) as free variables for IRIS
- Fix the transform at plan time
Varying the Grasp Distance
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Constrained Planning with GCSTrajOpt
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, Russ Tedrake
Future Work
- Open question: can we move beyond planning to, e.g., control and RL
- How to properly handle singularities and changing discrete IK parameters
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Why an Asymmetric Parametrization?
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Why an Asymmetric Parametrization?
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Balancing the Arms/Shortest Paths in \(\mathbb{R}^{14}\)
(This Paper)
(Future Work)
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, and Russ Tedrake
Balancing the Arms/Shortest Paths in \(\mathbb{R}^{14}\)
(This Paper)
(Future Work)
Bimanual ICRA Talk
By tcohn
Bimanual ICRA Talk
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