This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for general 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous state transitions and discrete contact mode switches, without the need for pre-specified contact sequences or pre-designed motion primitives. The key idea is to use automatically enumerated contact modes to guide the tree expansions during the search. Contact modes automatically synthesize manipulation primitives, while the sampling-based planning framework sequences those primitives into a coherent plan. We test our algorithm on many simulated 3D manipulation tasks, and validate our models by executing the plans open-loop on a real robot-manipulator system.

翻译：本文介绍通用 3D 准静态和准动力硬体运动规划的“ 接触模式引导操纵规划 ” ( CMGMP ) 。 CMGMP 算法生成混合运动计划, 包括连续状态转换和离散接触模式开关, 不需要预先指定的接触序列或预先设计的运动原始程序。 关键的想法是使用自动列举的接触模式来指导搜索过程中的树扩张。 联系模式自动合成操纵原始程序, 而基于取样的规划框架则将这些原始程序排序为连贯的计划。 我们用许多模拟的 3D 操作任务测试我们的算法, 并通过在真正的机器人操纵系统上执行开放式计划来验证我们的模型 。