Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization.
Balakumar SundaralingamTucker HermansPublished in: Robotics: Science and Systems (2017)
Keyphrases
- constrained optimization
- physical constraints
- kinematic constraints
- optimization method
- global optimization
- optimization process
- optimization problems
- optimization methods
- optimization model
- np hard optimization problems
- decision variables
- constraint satisfaction
- optimization criteria
- trajectory planning
- degrees of freedom
- constraint programming
- configuration space
- robot motion
- search algorithm