RRTによる物体との動力学的な拘束を考慮した物体操作の軌道生成アルゴリズム

抄録

It is desired that robots act in our living space to support our daily lives. Humans often manipulate objects in our daily lives, but that is hard to robots. This paper proposes a method of planning a trajectory for object manipulation using Rapidly-exploring Random Tree(RRT). The novelty of the method is to expand the search spaces of RRT to acceleration dimensions. The proposed method solves the manipulation trajectory problem considering dynamic constraints with an object. This paper shows the effectiveness of the proposed method by a demonstration that a robot turns over a pancake.