Planning Motions Compliant to Complex Contact States Planning Motions Compliant to Complex Contact States
نویسندگان
چکیده
Many robotic tasks require compliant motions, but planning such motions poses special challenges not present in collision-free motion planning. One challenge is how to achieve exactness, that is, (DOFs) and, thus, uncertainties (Mason 1982; Whitney 1985). Contact motion occurs on the boundary of configuration space obstacles (C-obstacles) (Lozano-Pérez 1983), but computing C-obstacles remains a formidable task to date. Whereas there are exact descriptions of C-obstacles for polygons (Avnaim, Boissonnat, and Faverjon 1988; Brost 1989), there are only approximations for polyhedra (Donald 1987; Joskowicz The International Journal of Robotics Research Vol. 20, No. 6, June 2001, pp. 446-465, ©2001 Sage Publications
منابع مشابه
Planning Motions Compliant to Complex Contact States
Many robotic tasks require compliant motions, but planning such motions pose special challenges not present in collision-free motion planning. One challenge is how to achieve exactness, i.e., how to make sure that a planned path is exactly compliant to a desired contact state, especially when the con guration manifold of such a contact state is hard to describe analytically due to high geometri...
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