Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances.
Aidan CurtisXiaolin FangLeslie Pack KaelblingTomás Lozano-PérezCaelan Reed GarrettPublished in: CoRR (2021)
Keyphrases
- motion planning
- manipulation tasks
- degrees of freedom
- robot arm
- trajectory planning
- path planning
- humanoid robot
- mobile robot
- obstacle avoidance
- d objects
- autonomous mobile robot
- collision free
- multi robot
- inverse kinematics
- robotic tasks
- control law
- physical objects
- mechanical systems
- human robot interaction
- robotic arm
- belief space
- potential field
- human body
- dynamic environments