HPP: A new software for constrained motion planning

We present HPP, a software designed for complex classes of motion planning problems, such as navigation among movable objects, manipulation, contact-rich multiped locomotion, or elastic rods in cluttered environments. HPP is an open-source answer to the lack of a standard framework for these important issues for robotics and graphics communities.

Authors

• Joseph Mirabel
• Steve Tonneau
• Pierre Fernbach
• Anna-Kaarina Seppala
• Mylène Campana
• Nicolas Mansard
• Florent Lamiraux

Keywords

• Planning
• Robots
• Kinematics
• Libraries
• Software
• Collision avoidance
• Level set
• Path Planning
• Rigid Body Motion
• Constrained Motion Planning
• Open-source
• General Form
• Recent Contributions
• Robot Motion
• Planning Algorithm
• Static Equilibrium
• Planning Problem
• General Constraints
• Kinematic Chain
• Elastic Rod
• Benchmark
• Differentiable Function
• Implementation Of Algorithm
• Inequality Constraints
• State Machine
• Configuration Space
• Collision Detection
• Robot Configuration
• Path Points
• Positional Constraints
• Geometric Objects
• Lie Group
• Submanifold
• Inverse Kinematics