Pr2 Manipulation Planning

Media Summary: Manipulation Planning under Changing External Forces Trajectory generated by the RRT* algorithm in a This video was created using open source rigid body dynamics robot simulator Gazebo ( and ...

Pr2 Manipulation Planning - Detailed Analysis & Overview

Manipulation Planning under Changing External Forces Trajectory generated by the RRT* algorithm in a This video was created using open source rigid body dynamics robot simulator Gazebo ( and ... This video shows the completion of a proof of concept system for autonomous high throughput data capture of robot WAM autonomously opens a cabinet, puts a cup inside, and closes it. Motion Planning.-A* implementation on PR2 in OpenRAVE

Nichola Abdo, Henrik Kretzschmar, Luciano Spinello, and Cyrill Stachniss Learning

Photo Gallery

PR2 Manipulation Planning

Manipulation Planning under Changing External Forces

RRT algorithm on the PR2 - planning with both arms (12 DOF)

PR2 motion planning

PR2 executing plan generated by HPN

PR2 objects manipulation

Motion Planning for Manipulation and Door Opening

PR2 sushi serving scenario -- clean and place (teleop using interactive manipulation)

Learning to Plan for Constrained Manipulation from Demonstrations

PR2 Playpen Video

Manipulation Planning with Door Opening

Motion Planning.-A* implementation on PR2 in OpenRAVE

View Detailed Profile

PR2 Manipulation Planning

PR2 Manipulation Planning

Shows the

Manipulation Planning under Changing External Forces

Manipulation Planning under Changing External Forces

Manipulation Planning under Changing External Forces

RRT algorithm on the PR2 - planning with both arms (12 DOF)

RRT algorithm on the PR2 - planning with both arms (12 DOF)

Trajectory generated by the RRT* algorithm in a

PR2 motion planning

PR2 motion planning

PR2 motion planning

PR2 executing plan generated by HPN

PR2 executing plan generated by HPN

The

PR2 objects manipulation

PR2 objects manipulation

Test of

Motion Planning for Manipulation and Door Opening

Motion Planning for Manipulation and Door Opening

For more information: http://www.willowgarage.com/blog/2009/10/07/motion-

PR2 sushi serving scenario -- clean and place (teleop using interactive manipulation)

PR2 sushi serving scenario -- clean and place (teleop using interactive manipulation)

This video was created using open source rigid body dynamics robot simulator Gazebo (http://gazebo.willowgarage.com) and ...

Learning to Plan for Constrained Manipulation from Demonstrations

Learning to Plan for Constrained Manipulation from Demonstrations

In the first half of this video, the

PR2 Playpen Video

PR2 Playpen Video

This video shows the completion of a proof of concept system for autonomous high throughput data capture of robot

Manipulation Planning with Door Opening

Manipulation Planning with Door Opening

WAM autonomously opens a cabinet, puts a cup inside, and closes it.

Motion Planning.-A* implementation on PR2 in OpenRAVE

Motion Planning.-A* implementation on PR2 in OpenRAVE

Motion Planning.-A* implementation on PR2 in OpenRAVE

Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping

Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping

Robotic

PR2 multi-tasks test

PR2 multi-tasks test

Test interface of

PR2 solving a planning problem using actions it learnt before by observing a human, 2012

PR2 solving a planning problem using actions it learnt before by observing a human, 2012

Nichola Abdo, Henrik Kretzschmar, Luciano Spinello, and Cyrill Stachniss Learning

PR2 Tabletop Manipulation Outtakes

PR2 Tabletop Manipulation Outtakes

Some execution failures mostly caused by

RRT* algorithm on the PR2 - planning with both arms (12 DOF)

RRT* algorithm on the PR2 - planning with both arms (12 DOF)

Trajectory generated by the RRT* algorithm in a

Manipulation Planning - Table Top Demo

Manipulation Planning - Table Top Demo

7 DoF / 4 DoF adaptive

Tethered Tool Manipulation Planning with Cable Maneuvering

Tethered Tool Manipulation Planning with Cable Maneuvering

A Bi-manual Motion

PR2 keeping a door open based on actions learnt from demonstration, 2012

PR2 keeping a door open based on actions learnt from demonstration, 2012

Nichola Abdo, Henrik Kretzschmar, Luciano Spinello, and Cyrill Stachniss Learning

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