Rudorfer, Martin, Hartvich, Jiri and Vonasek, Vojtech (2024). A Framework for Joint Grasp and Motion Planning in Confined Spaces. IN: 13th International Workshop on Robot Motion and Control, RoMoCo 2024 - Proceedings. International Workshop on Robot Motion and Control, RoMoCo - Proceedings . POL: IEEE.
Abstract
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are interested in scenarios where the objects are in confined spaces and hence particularly difficult to reach. Planning how the robot approaches the object becomes a major part of the challenge, giving rise to methods for joint grasp and motion planning. The framework proposed in this paper provides 20 benchmark scenarios with systematically increasing difficulty, realistic objects with precomputed grasp annotations, and tools to create and share more scenarios. We further provide two baseline planners and evaluate them on the scenarios, demonstrating that the proposed difficulty levels indeed offer a meaningful progression. We invite the research community to build upon this framework by making all components publicly available as open source.
Publication DOI: | https://doi.org/10.1109/romoco60539.2024.10604306 |
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Divisions: | College of Engineering & Physical Sciences > School of Computer Science and Digital Technologies > Applied AI & Robotics Aston University (General) |
Funding Information: | This work was supported in part by the Czech Science Foundation (GACR) through Research Project under Grant 22-24425S, by the European Union under the project Robotics and Advanced Industrial Production (reg. no. CZ.02.01.01/00/22 008/0004590), by CTU gra |
Additional Information: | Copyright © 2024, IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Event Title: | 13th International Workshop on Robot Motion and Control |
Event Type: | Other |
Event Dates: | 2024-07-02 - 2024-07-04 |
ISBN: | 9798350393965 |
Last Modified: | 03 Dec 2024 08:26 |
Date Deposited: | 08 May 2024 14:53 |
Full Text Link: | |
Related URLs: |
https://ieeexpl ... cument/10604306
(Publisher URL) http://www.scop ... tnerID=8YFLogxK (Scopus URL) |
PURE Output Type: | Conference contribution |
Published Date: | 2024-07-29 |
Published Online Date: | 2024-07-02 |
Accepted Date: | 2024-04-15 |
Authors: |
Rudorfer, Martin
(
0000-0001-9109-5188)
Hartvich, Jiri Vonasek, Vojtech |