RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions.
Vasileios VasilopoulosSuveer GargPedro PiacenzaJinwook HuhVolkan IslerPublished in: IROS (2023)
Keyphrases
- motion planning
- manipulation tasks
- distance function
- humanoid robot
- degrees of freedom
- knn
- robot arm
- mobile robot
- path planning
- nearest neighbor
- robotic arm
- similarity search
- euclidean distance
- multi robot
- distance measure
- inverse kinematics
- control law
- robot navigation
- collision free
- data points
- data sets
- human robot interaction
- configuration space
- end effector
- viewpoint