核心概念
Parametrizing constrained bimanual planning spaces for efficient motion planning.
要約
The study focuses on leveraging analytic inverse kinematics to address complex nonlinear constraints in bimanual robot manipulation. It introduces a parametrization method to simplify configuration space, enabling more effective motion planning algorithms. The research explores various planning techniques and their applications in bimanual tasks, emphasizing the importance of task-space constraints. By utilizing convex sets and trajectory optimization, the proposed approach aims to enhance efficiency and accuracy in constrained motion planning for robotic systems.
統計
"This work was supported by Amazon.com, PO No. 2D-06310236"
"National Science Foundation Graduate Research Fellowship Program under Grant No. 2141064"
"Analytic IK is available for many popular robot arms available today, including the KUKA iiwa."
引用
"We leverage an analytic solution to the inverse kinematics problem to parametrize the configuration space."
"Configurations where the subordinate arm cannot reach the end-effector of the primary arm are treated as obstacles."
"Our parametrization can be used to find shorter paths more quickly than existing approaches."