Print Email Facebook Twitter An empirical study of single-query motion planning for grasp execution Title An empirical study of single-query motion planning for grasp execution Author Meijer, Jonathan Lei, Q. (TU Delft Robot Dynamics) Wisse, M. (TU Delft Robot Dynamics) Contributor Buss, Martin (editor) Sawodny, Oliver (editor) Date 2017 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. Subject PlanningBenchmark testingLibrariesManipulatorsBidirectional controlSpace exploration To reference this document use: http://resolver.tudelft.nl/uuid:a340e15e-febc-4444-b761-42a2e9218b3b DOI https://doi.org/10.1109/AIM.2017.8014187 Publisher IEEE, Piscataway, NJ, USA ISBN 978-1-5090-6000-9 Source Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics: AIM 2017 Event AIM 2017: IEEE International Conference on Advanced Intelligent Mechatronics, 2017-07-03 → 2017-07-07, Munich, Germany Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type conference paper Rights © 2017 Jonathan Meijer, Q. Lei, M. Wisse Files PDF An_Empirical_Study_of_Sin ... cution.pdf 1.2 MB Close viewer /islandora/object/uuid:a340e15e-febc-4444-b761-42a2e9218b3b/datastream/OBJ/view