2015
Online deformation of optimal trajectories for constrained nonprehensile manipulation
Alexander Pekarovskiy, Thomas Nierhoff, Jochen Schenek, Yoshihiko Nakamura, Sandra Hirche, Martin Buss
ICRA 2015poster
This paper discusses an online dynamic motion generation scheme for nonprehensile object manipulation by using a set of predefined motions and a trajectory deformation algorithm capable of incorporating positional and velocity boundary constraints. By creating optimal trajectories offline and deform…