HPP: a new software framework for manipulation planning

摘要

We present a new open-source software framework (called Humanoid Path Planner – HPP) for path and manipulation planning. Some features like built-in kinematic chains and implementation of non-linear constraints make the framework a good fit for humanoid robot applications. The implementation of kinematic chains takes into account the Lie-group structure (rotation in 3D space SO(3)) of robot configuration spaces. Robots and obstacles can be loaded from ROS-URDF files. Manipulation problems are modeled by a graph of constraints. At installation, a corba server is installed. the server can be controlled by python scripting to define and solve a problem.