Constraint Satisfaction for Motion Feasibility Checking

Table 12

Constraint list.

Constraint			Ours	Lagriffoul	Lozano-Pérez	Garrett
Pose	Base	Picking up	Yes	No	No	Yes
		Putting down	Yes	No	No	Yes
	Hand	Grasp	Yes	No	No	No
		Pre-grasp	Yes	No	No	No
		Post-grasp	Yes	No	No	No
		Re-grasp	No	Yes	No	No
		Placing	Yes	Yes	Yes	Yes
		Lowering	Yes	No	No	No
		Retracting	Yes	No	No	No
		Hand over	No	Yes	No	No
	Object	Placing	Yes	Yes	Yes	Yes
		Stacking	No	Yes	No	No
Path	Base	Collision-free path	Yes	No	No	Yes
		Collision-free path with object	Yes	No	No	Yes
	Hand	Collision-free path	Yes	Yes	Yes	Yes
		Collision-free path with object	Yes	Yes	Yes	Yes