TrajectoTree
Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation
Claire Chen, Preston Culbertson, Marion Lepert, Mac Schwager, Jeannette Bohg
IROS 2021
Dexterous manipulation tasks often require contact switching, where fingers make and break contact with the object. We propose a method that plans trajectories for dexterous manipulation tasks involving contact switching using contact-implicit trajectory optimization (CITO) augmented with a high-level discrete contact sequence planner. We first use the high-level planner to find a sequence of finger contact switches given a desired object trajectory. With this contact sequence plan, we impose additional constraints in the CITO problem. We show that our method finds trajectories approximately 7 times faster than a general CITO baseline for a four-finger planar manipulation scenario. Furthermore, when executing the planned trajectories in a full dynamics simulator, we are able to more closely track the object pose trajectories planned by our method than those planned by the baselines.
arXiv link: https://arxiv.org/abs/2109.14088
BibTex:
@article{Chen2021TrajectoTreeTO,
title={TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation},
author={Claire Chen and Preston Culbertson and Marion Lepert and Mac Schwager and Jeannette Bohg},
journal={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2021},
pages={8262-8268}
}