This article describes all the components needed to build a motion planning stack for a robot manipulator. You will learn the basics of inverse kinematics, motion planning, and trajectory generation, as well as model representations and common software packages you should know about.
Category Archives: Manipulation
Integrated Task and Motion Planning in Robotics
Learn the fundamentals of integrated task and motion planning (TAMP), and explore examples using PDDLStream, which combines symbolic task planning and sampling-based motion planning.
2021 in Review, Part 1: Research Projects at MIT CSAIL
Sebastian discusses 3 of his major collaborative projects at MIT CSAIL, which focus on learning and planning under uncertainty.