3 accepted papers
In many real-world manipulation problems, the constraints imposed by the environment on an object are tight. In these cases, most state-of-the-art planners struggle to fit satisfactorily in low dimensional sub-manifolds, while still ensuring geometric and force feasibility. On the other hand, humans…
In this paper, we present a method to plan grasps for soft hands. Considering that soft hands can easily conform to the shape an the object, with preference to certain types of basic geometries and dimensions, we decompose the object into one type of these geometries, particularly into Minimal Volum…
Random sampling-based methods for motion planning of constrained robot manipulators have been widely studied in recent years. The main problem to deal with is the lack of an explicit parametrization of the non linear submanifold in the Configuration Space (CS) imposed by the constraints in the syste…