16 - 662 Robot Autonomy Lecture
نویسندگان
چکیده
Grasp planning and arm planning are the two main aspects of manipulation planning. Arm planning is computationally the most expensive component because planning takes place in a high-dimension configuration space (usually manipulators have many DOF) which is difficult and requires high processing capability for reasonable intervening wait times. Lectures 2, 4 and 5 discuss the three steps of grasp planning, namely approach, control, and verification. Figure 1 gives a summary of these three steps of grasp planning that have been discussed in previous lectures.
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