Prehensile Manipulation Planning: Modeling, Algorithms and Implementation

This article presents a software platform tailored for prehensile manipulation planning named humanoid path planner. The platform implements an original way of modeling manipulation planning through a constraint graph that represents the numerical constraints that define the manipulation problem. We...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 38; no. 4; pp. 2370 - 2388
Main Authors:	Lamiraux, Florent, Mirabel, Joseph
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.08.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Computer Science Constrained path planning Constraint modelling Humanoid Kinematics Manifolds manipulation planning Open source software Path planning Planning Robotics Robots Software algorithms robotics software platform constrained path planning manipulation planning path planning
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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