Manipulation planning with workspace goal regions

ICRA, pp. 618-624, 2009.

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Abstract:

We present an approach to path planning for manipulators that uses Workspace Goal Regions (WGRs) to specify goal end-effector poses. Instead of specifying a discrete set of goals in the manipulator's configuration space, we specify goals more intuitively as volumes in the manipulator's workspace. We show that WGRs provide a common framewo...More

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