72 search results - page 4 / 15 » Actuator Constraints in Optimal Motion Planning of Manipulat... |
AIPS
2010
13 years 11 months ago
2010
We present a hierarchical planning system and its application to robotic manipulation. The novel features of the system are: 1) it finds high-quality kinematic solutions to task-l...
ICRA
1998
IEEE
14 years 26 days ago
1998
IEEE
Many practical dextrous manipulation tasks involve large-scale motion of the grasped object while maintaining a stable grasp. To plan such tasks, one must control both the motion ...
SCA
2007
13 years 11 months ago
2007
Standing is a fundamental skill mastered by humans and animals alike. Although easy for adults, it requires careful and deliberate manipulation of contact forces. The variation in...
TSMC
1998
13 years 8 months ago
1998
—We formulate and address the problem of planning a pushing manipulation by a mobile robot which tries to rearrange several movable objects in its work space. We present an algor...
ICRA
2003
IEEE
14 years 1 months ago
2003
IEEE
Abstract— This paper presents a randomized manipulation planner for a multi-fingered hand by switching contact modes. Manipulation planning for such a system should consider cha...