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We present an approach to path planning for manipulators that uses Workspace Goal Regions (WGRs) to specify goal end-effector poses. Instead of specifying a discrete set of goals in the manipulator's configuration space, we specify goals more intuitively as volumes in the manipulator's workspace. We show that WGRs provide a common framework for describing goal regions that are useful for grasping...
Using domain knowledge to decompose difficult control problems is a widely used technique in robotics. Previous work has automated the process of identifying some qualitative behaviors of a system, finding a decomposition of the system based on that behavior, and constructing a control policy based on that decomposition. We introduce a novel method for automatically finding decompositions of a task...
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