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Humanoid manipulation planning using backward-forward search
2016
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
This paper explores combining task and manipulation planning for humanoid robots. Existing methods tend to either take prohibitively long to compute for humanoids or artificially limit the physical capabilities of the humanoid platform by restricting the robot's actions to predetermined trajectories. We present a hybrid planning system which is able to scale well for complex tasks without relying on predetermined robot actions. Our system utilizes the hybrid backward-forward planning algorithm
doi:10.1109/iros.2016.7759804
dblp:conf/iros/GreyGLAT16
fatcat:bmd3vpsnsjhgfiqt7v4ystowdy