Abstract— Computing a motion that enables a mobile manipulator to open a door is challenging because it requires tight coordination between the motions of the arm and the base. H...
A tractor-trailer robot consists of a carlike tractor towing a passive trailer. Due to its highly nonholonomic nature, the kinematics of this type of robot are complicated and di ...
— The configuration space of a robot is partitioned into free space and C-obstacle space. Most of the prior work in collision detection and motion planning algorithms is targete...
Liangjun Zhang, Young J. Kim, Gokul Varadhan, Dine...
This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane witha passive revolute third joint. Such a robot is small-...
Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazu...
— In this paper a motion planning method for a mobile manipulator is proposed. In general, humans can grasp an object by various way which depends on object posture, position and...