Skill-based backprojection for fine motion planning

Generally, a manipulator task can be divided into several motion primitives called “skills”. Skill-based motion planning is an effective way to execute a complicated task. Also when planning tasks, a technique of fine motion planning such as the backprojection method in configuration space is often used. In this paper we introduce the concept of skill into the backprojection method. A backprojection is shaped by a pattern of motion on each skill primitive, and a skill library is constructed. Motion planning based on backprojection is achieved by combining several skills in the skill library. Therefore, a general and skilful motion planning can be derived