2020
Planning Maximum-Manipulability Cutting Paths
Tommaso Pardi, Valerio Ortenzi, Colin Fairbairn, Tony Pipe, Amir Masoud Ghalamzan Esfahani, Rustam Stolkin
RA-L 2020
This letter presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape, but observes it from a noisy point cloud. We consider the mul