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Humanoid motion planning for dual-arm manipulation and re-grasping tasks (2009)
| Content Provider | CiteSeerX |
|---|---|
| Author | Vahrenkamp, Nikolaus Berenson, Dmitry Asfour, Tamim Kuffner, James |
| Description | In IEEE/RSJ International Conference on Intelligent Robots and Systems |
| File Format | |
| Language | English |
| Publisher Date | 2009-01-01 |
| Access Restriction | Open |
| Subject Keyword | Kitchen Environment Collision-free Trajectory Humanoid Robot Armar-iii Grasping Position Efficient Approach Ik Solution Low Computation Cost Ik Method Humanoid Motion Planning Efficient Solution Inverse Kinematics Dual-arm Task Free Parameter Whole-body Robot Configuration Dual-arm Motion Planning Task Inverse Kinematics Problem Gradient-descent Approach Humanoid Robot Pre-computed Reachability Space Dual-arm Manip-ulation Feasible Ik Solution Dual-arm Manipulation Motion Planning Re-grasping Problem Full Joint Configuration Re-grasping Task Complete Rrt-based Motion Planning Algorithm High Number Random Sampling |
| Content Type | Text |
| Resource Type | Article |