Constraint Satisfaction for Motion Feasibility Checking

Table 13

Constraint descriptions.

Constraint	Description
reachablaBasePose (B)	When robot is located on base pose B, there must be no collision and the target object must be within radius of robot’s arm.
placeableBasePose (B)	When robot is located on base pose B, there must be no collision and the center of table must be within radius of robot’s arm.
graspableHandPose (H, B)	When robot’s hand is located at hand pose H, robot should be able to grasp the target object by closing fingers.
	When robot is located on base pose B, there is at least one inverse kinematics for the hand pose H.
preGraspableHandPose (H, H′, B)	When robot’s hand is located at hand pose H, the hand must be a little farther than hand pose H′ which is a graspableHandPose for target object.
	When robot is located on base pose B, there is at least one inverse kinematics for the hand pose H
postGraspableHandPose (H, H′, B)	When robot’s hand is located at hand pose H, the hand must be a little higher than hand pose H′ which is a graspableHandPose for target object.
	When robot is located on base pose B, there is at least one inverse kinematics for the hand pose H.
placeableHandPose (B, O, H)	When robot’s hand is located at hand pose H, robot should be able to place the target object on the target location O by opening fingers.
	When robot is located on base pose B, there is at least one inverse kinematics for the hand pose H.
lowerableHandPose (B, O, H′, H)	When robot’s hand is located at hand pose H, the hand must be a little higher than hand pose H′ is a placeableHandPose for target location O.
	When robot is located on base pose B, there is at least one inverse kinematics for the hand pose H.
retractableHandPose (B, O, H′, H)	When robot’s hand is located at hand pose H, the hand must be a little farther than hand pose H′ is a placeableHandPose for target location O.
	When robot is located on base pose B, there is at least one inverse kinematics for the hand pose H.
placeableObjectPose (O)	When target object is located on target location O, there must be no collision.
validBasePath (B, B′)	There must be at least one collision-free path from base pose B to base pose B’.
validHandPath (H, H′, B)	There must be at least one collision-free path from hand pose H to hand pose H′ at base pose B.