Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation
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DOI: 10.1007/s10514-018-9772-z
Abstract: This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our… read more here.
Keywords: manipulation; trajectory optimization; collision avoidance; kinematic trajectory ... See more keywords