GOMP: Grasp-Optimized Motion Planning for Bin Picking.

Jeffrey Ichnowski Michael Danielczuk Jingyi Xu Vishal Satish Ken Goldberg

Published in: ICRA (2020)

Keyphrases

motion planning
degrees of freedom
mobile robot
trajectory planning
path planning
robot arm
humanoid robot
multi robot
robotic arm
autonomous mobile robot
manipulation tasks
robotic tasks
belief space
obstacle avoidance
inverse kinematics
nearest neighbor searching
climbing robot
potential field
collision free