Realtime manipulation planning system integrating symbolic and geometric planning under interactive dynamics siumlator

This paper presents a new robust realtime manipulation planning system for robot to manipulate movable objects under interactive dynamics simulator. Previous manipulation planning system was not robust under environment which dynamically changes. To solve this problem, we propose an integrated manipulation planning system composed of symbolic task planner, geometric motion planner and interactive dynamics simulator. Iterative planning process based on realtime strategy is done through global motion planning based symbolic representation, local motion planning which generates robot geometric actions and interactive dynamics simulator which controls both kinematic and dynamic simulation modes interactively. In experiments, we demonstrate that or realtime manipulation planning system can solve manipulation problem with several objects efficiently and robustly under dynamic environment.