This paper addresses the dexterous manipulation-planning problem, which deals with motion planning for multi-fingered hand manipulating objects among static obstacles, under quasi-static movement assumption. We propose a general manipulation approach capable to compute object and finger trajectories as well as the finger relocation sequence, in order to link any two given configurations of the ...

Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate and simpler steps : first, find a path in the configuration space that satisfies the geometric constraints (path planning), and second, find a time-parameterization of that path satisfying the kinodynamic ...

A nonlinear control law to steer the unicycle model to a static or dynamic target pose is presented. If the target is static the control signals are smooth in their arguments and the solution guarantees exponential convergence of the distance and orientation errors to zero. The major advantages of the proposed approach are that there is no need for path planning and, in principle, there is no n...

1 Differential Evolution Approach Using Chaotic Sequences Applied to Planning of Mobile Robot in a Static Environment with Obstacles Leandro dos Santos Coelho, Nadia Nedjah, Luiza de Macedo Mourelle . . . 3 1.

This paper presents a general framework for planning the quasi-static motion of climbing robots. The framework is instantiated to compute climbing motions of a three-limbed robot in vertical natural terrain. An example resulting path through a large simulated environment is presented. The planning problem is one of five fundamental challenges to the development of real robotic systems able to c...

We present a general motion planning algorithm for robotic systems with a “stratified” configuration space. Such systems include quasi-static legged robots and kinematic models of object manipulation by finger repositioning. Our method extends a nonlinear motion planning algorithm for smooth systems to the stratified case, where the relevant dynamics are not smooth. The method does not depend u...

This paper presents a motion planning algorithm capable of exploiting the experience gained in previous path computations in the same static workspace. The algorithm takes advantage of a parallel approach to speed up computation and compile a graph retaining useful knowledge about the environment. Experimental results assess the performance improvement of the experience-based planner over the p...

Since the last two decades, use of laser scanners for generating accurate and dense 3D models has been rapidly growing in multiple disciplines. The reliance on human-expertise to perform an efficient scanning terms completeness quality encouraged researchers develop strategies carrying out optimized automated scan planning. Nevertheless, due predominant static terrestrial (TLS), most developed ...