This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

We assume a differential drive mobile robot: two unsteered coaxial wheels are independently actuated. Each wheel has bounded velocity, but no bound on torque or acceleration. Pontryagin’s Maximum Principle gives an elegant description of the extremal trajectories, which are a superset of the time optimal trajectories. Further analysis gives an enumeration of the time optimal trajectories, and m...

Algorithms which guarantee to find globally optimal trajectories by covering a hypervolume of state space become infeasible in high dimensions. We have developed an algorithm which generates locally optimal trajectories without covering a hypervolume which only requires polynomial memory and time. Even though the algorithm does not guarantee a globally optimal trajectory in a deterministic mann...