3 accepted papers
This paper deals with manipulation planning. The problem consists in automatically computing paths for a system composed of one or several robots, with one or several grippers and one or several objects that can be grasped and moved by the robots. The problem gives rise to constraints that can be ex…
This paper deals with manipulation planning. First, we propose a new tool called the constraint graph to describe the various motion constraints relative to a manipulation planning problem. Then, we describe a problem arising for some manipulation planning problems called the crossed foliation issue…
We present HPP, a software designed for complex classes of motion planning problems, such as navigation among movable objects, manipulation, contact-rich multiped locomotion, or elastic rods in cluttered environments. HPP is an open-source answer to the lack of a standard framework for these importa…