Efficient Task/Motion Planning for a Dual-arm Robot from Language Instructions and Cooking Images.
Kota TakataTakuya KiyokawaIxchel Georgina Ramirez-AlpizarNatsuki YamanobeWeiwei WanKensuke HaradaPublished in: IROS (2022)
Keyphrases
- motion planning
- robotic arm
- mobile robot
- trajectory planning
- path planning
- humanoid robot
- autonomous mobile robot
- robot arm
- degrees of freedom
- multi robot
- input image
- robotic tasks
- three dimensional
- obstacle avoidance
- configuration space
- object recognition
- image features
- collision free
- image retrieval
- manipulation tasks
- potential field
- inverse kinematics
- control law
- viewpoint
- real time
- robotic systems
- collision avoidance
- d objects
- dynamic environments