Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D.
Xianyi ChengEric HuangYifan HouMatthew T. MasonPublished in: ICRA (2022)
Keyphrases
- motion planning
- manipulation tasks
- humanoid robot
- object manipulation
- degrees of freedom
- mobile robot
- path planning
- robot arm
- trajectory planning
- multi robot
- robotic arm
- inverse kinematics
- obstacle avoidance
- belief space
- robotic tasks
- configuration space
- control law
- robot navigation
- autonomous mobile robot
- climbing robot
- viewpoint
- multi modal
- mechanical systems
- nearest neighbor searching