Contact Mode Guided Motion Planning for Dexterous Manipulation.
Xianyi ChengEric HuangYifan HouMatthew T. MasonPublished in: CoRR (2021)
Keyphrases
- motion planning
- manipulation tasks
- degrees of freedom
- humanoid robot
- object manipulation
- trajectory planning
- path planning
- robot arm
- mobile robot
- robotic tasks
- robotic arm
- multi robot
- inverse kinematics
- autonomous mobile robot
- belief space
- obstacle avoidance
- force feedback
- control law
- collision free
- computer vision
- mechanical systems
- pose estimation
- end effector
- configuration space
- kinematic model
- three dimensional