An empirical study of single-query motion planning for grasp execution

Conference paper (2017)

Authors

Q. Lei Robot Dynamics - Mechanical, Maritime and Materials Engineering
M. Wisse Robot Dynamics - Mechanical, Maritime and Materials Engineering
Research Group
Robot Dynamics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2017 Jonathan Meijer, Q. Lei, M. Wisse
DOI: https://doi.org/10.1109/AIM.2017.8014187
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Published Date

2017

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Robot Dynamics

Abstract

This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.

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