A method of regrasp planning for humanoid robot manipulation is proposed. We adopt pivoting manipulation for the humanoid robot to move a bulky object without lifting in a stable a...
— In this paper, we present efficient solutions for planning motions of dual-arm manipulation and re-grasping tasks. Motion planning for such tasks on humanoid robots with a hig...
Niko Vahrenkamp, Dmitry Berenson, Tamim Asfour, Ja...
Abstract In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a "pivoting" manipulation method that allows the humanoid to disp...
— 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...