Abstract—We present an approach to path planning for manipulators that uses Workspace Goal Regions (WGRs) to specify goal end-effector poses.

Abstract: We present an approach to path planning for manipulators that uses Workspace Goal Regions (WGRs) to specify goal end-effector poses.

An approach to path planning for manipulators that uses Workspace Goal Regions (WGRs) to specify goal end-effector poses and shows that planning with WGRs ...

May 12, 2009 · We present an approach to path planning for manipulators that uses Workspace Goal Regions (WGRs) to specify goal end-effector poses.

Our results show that planning,with WGRs provides,an intuitive and,powerful,method,of specifying goals for a variety of tasks without,sacrificing efficiency or ...

Manipulation planning with Workspace Goal Regions. Berenson D., Srinivasa S.S., Ferguson D., Collet A., Kuffner J.J.. Expand. Publication type: Proceedings ...

Abstract—Goal sets are omnipresent in manipulation: picking up objects, placing them on counters or in bins, handing them off — all of these tasks encompass ...

The workspaceGoalRegion object defines a region for valid end-effector goal poses. To sample poses within the bounds of the goal region, use the sample ...

Manipulation Planning With Workspace Goal Regions by Dmitry Berenson, Siddhartha S. Srinivasa, Dave Ferguson, Alvaro Collet, James J. Kuffner.

Manipulation Planning with Workspace Goal Regions. [Berenson, Srinivasa, Ferguson, Collet, Kuffner: ICRA 2009]. Manipulation planners often require ...