43 search results - page 1 / 9 » Manipulation planning on constraint manifolds |
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
Abstract— We present the Constrained Bi-directional RapidlyExploring Random Tree (CBiRRT) algorithm for planning paths in configuration spaces with multiple constraints. This al...
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
Abstract— We present a proof for the probabilistic completeness of RRT-based algorithms when planning with constraints on end-effector pose. Pose constraints can induce lowerdime...
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— This paper presents an approach for haptic rendering of topological constraints to users operating serial virtual linkages. In the proposed approach, a haptic device controller...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace, and at the same time the manipulator...
ICRA
1995
IEEE
13 years 8 months ago
1995
IEEE
The optimal motion generation problem is solved subject to various actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is ...