RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies

Jan Issac
Jan Issac
Stan Birchfield
Stan Birchfield
Nathan Ratliff
Nathan Ratliff
Cited by: 0|Bibtex|Views20
Other Links: arxiv.org

Abstract:

Generating robot motion for multiple tasks in dynamic environments is challenging, requiring an algorithm to respond reactively while accounting for complex nonlinear relationships between tasks. In this paper, we develop a novel policy synthesis algorithm, RMPflow, based on geometrically consistent transformations of Riemannian Motion ...More

Code:

Data:

Full Text
Your rating :
0

 

Tags
Comments