— Motion planning for robotic arms is important for real, physical world applications. The planning for arms with high-degree-of-freedom (DOF) is hard because its search space is...
Abstract-- Existing high-dimensional motion planning algorithms are simultaneously overpowered and underpowered. In domains sparsely populated by obstacles, the heuristics used by ...
Nathan D. Ratliff, Matt Zucker, J. Andrew Bagnell,...
Abstract— Trajectory planning and optimization is a fundamental problem in articulated robotics. It is often viewed as a two phase problem of initial feasible path planning aroun...
— 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...
— The reduction of the kinematics and/or dynamics of a high-DOF robotic manipulator to a low-dimension “task space” has proven to be an invaluable tool for designing feedback...