Yulia Danik

TOCALib: Optimal Control Library with Interpolation for Bimanual Manipulation and Obstacles Avoidance

The paper presents a new approach for constructing a library of optimal trajectories for two robotic manipulators, Two-Arm Optimal Control and Avoidance Library (TOCALib). The optimization takes into account kinodynamic and other constraints within the FROST framework. The novelty of the method lies…