1. CS 326 A: Motion Planning http://robotics.stanford.edu/~latombe/cs326/2002 Manipulation Planning

2. Movable Objects Objects that are static, but can be moved by robots, provided they are grasped Complement to assembly sequence planning Manipulation tasks Autonomous robots in environment with movable objects

3. Composite Configuration Space Some dimensions of the composite configuration space are not directly controllable

4. Some Planning Approaches 1.Combinatorial search based on a priori discretization  Manipulation Graph (1 st planner of 1 st paper) 2.Criticality-based discretization (2 nd planner of 1 st paper) 3.Probabilistic sampling (2 nd paper) Plan for the movable objects, while checking that they follow paths where they are graspable (transfer paths) Plan for the motion of the robots from one grasp to another (transit paths) The approach is usually not complete

5. Non-Prehensile Manipulation E.g.: Pushing (K. Lynch) Relation to part feeding (next class)

6. Many Open Problems  Interaction of path planning and grasp planning  Interaction with stability maintenance  Dynamic manipulation (e.g., throw an object and catch it back with a different pose)  Large gap between theory and practice