Skip to main content Skip to main navigation

Publication

Motion Planning for Manipulators

Behnam Asadi; Sankaranarayanan Natarajan
DFKI GmbH, DFKI Documents (D), Vol. 14-03 , No. 14-03, ISBN ISSN 0946-0098, Selbstverlag, Bremen, 6/2014.

Abstract

On this poster, two libraries for motion planning for manipulator is introduced(MoveIt!, MotionPlanner Library). MoveIt! is state of the art motion planner framework for mobile manipulation applications. A framework independent motionplanning library is developed using sample-based motionplanning algorithm. This library also supports dual arm manipulation and replanning for dynamic environment.