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3 days ago · These regions can be used by various planning methods that search for trajectories from start to goal while remaining collision-free. You will work exclusively ...
Jun 3, 2024 · During the offline phase, we initialize the workspace of the robot as a volumetric grid and compute zero-level-set joint configurations for each grid point. For ...
5 days ago · A hybrid manipulation planner that combines sampling- and optimization-based methods to solve complex constrained tasks, including scenarios involving auxiliary ...
Jul 9, 2024 · Berenson et al. [14] used goal regions in the manipulator's workspace for grasp and trajectory planning. ...
Feb 11, 2024 · Redundancy is valuable because it allows the arm to move smoothly and dextrously while avoiding “difficult” areas of the workspace. These benefits motivate the ...
Jan 14, 2024 · Learning representation for planning from data is a challenge. • Geometric structures may enhance learning and planning on robotic tasks like navigation and ...
5 days ago · An alternative approach is to initially plan the trajectory in the workspace and subsequently utilize inverse kinematics and dynamic constraints to generate the ...
Jun 30, 2024 · Path planning: Finding a list of joint positions and/or poses that actually move the robot from a start to a goal configuration. This could also take into ...
Missing: Workspace Regions.
May 13, 2024 · Given manipulator start and goal configurations in a workspace, our work aims to use a graph-based planner ∆(•) learning from an oracle planner to plan a series ...
Mar 15, 2024 · We present extensive experiments with CHOMP on manipulation and locomotion tasks, using seven-degree-of-freedom manipulators and a rough-terrain quadruped robot ...