Manipulation planning on constraint manifolds

International Conference on Robotics and Automation, pp. 625-632, 2009.

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Abstract— We present the Constrained Bi-directional Rapidly- Exploring Random,Tree (CBiRRT) algorithm,for planning,paths in configuration,spaces,with,multiple,constraints. This algo- rithm,provides,a general,framework,for handling,a variety of constraints in manipulation planning including torque limits, constraints on the pose of an obje...更多

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