A heuristic approach to grasp planning for a multifingered hand-arm robot based on the structure of empty space.
Noriyuki KawarazakiTsutomu HasegawaKazue NishiharaPublished in: Robotica (2000)
Keyphrases
- joint space
- tabu search
- motion planning
- low dimensional
- optimal solution
- forward search
- mobile robot
- vision system
- ai planning
- robotic arm
- world model
- spatial structure
- action selection mechanism
- planning process
- belief space
- navigation tasks
- domain independent planning
- heuristic function
- robot control
- situation calculus
- planning problems
- heuristic search
- space time
- human computer interaction
- dynamic programming
- high dimensional
- search algorithm