— In this work, we present an integrated planner for collision-free single and dual arm grasping motions. The proposed Grasp-RRT planner combines the three main tasks needed for ...
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 ...
— We propose a novel solution to the problem of inverse kinematics for redundant robotic manipulators for the purposes of goal selection for path planning. We unify the calculati...
We address the motion planning problem (open-loop trajectory design) for manipulating rigid bodies with permanent rolling contact without slipping. This problem is related in part...
— In this paper we present a framework for grasp planning with a humanoid robot arm and a five-fingered hand. The aim is to provide the humanoid robot with the ability of grasp...
Antonio Morales, Tamim Asfour, Pedram Azad, Steffe...