A geometrical approach to planning manipulation tasks. The case of discrete placements and grasps
HAL (Le Centre pour la Communication Scientifique Directe)Published 1 January 1990
Rachid Alami, Thierry Siméon, Jean‐Paul Laumond
Citations79
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TL;DR
The problem is shown to be a constrained instance of the coordinated motion planning problem for multiple moving bodies, and the constraints are related to the placement and the motion of objects, and can be expressed geometrically.
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Computer ScienceEngineering