Prehensile Manipulation Planning: Modeling, Algorithms and Implementation
نویسندگان
چکیده
This article presents a software platform tailored for prehensile manipulation planning named humanoid path planner. The implements an original way of modeling through constraint graph that represents the numerical constraints define problem. We propose extension RRT algorithm to is able solve large variety problems. provide replicable experimental results via docker image readers may download run by themselves.
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2022
ISSN: ['1552-3098', '1941-0468', '1546-1904']
DOI: https://doi.org/10.1109/tro.2021.3130433