59 citations · 61 across the 3 of their papers we have counts for
4 papers
A Certified-Complete Bimanual Manipulation Planner
Puttichai Lertkultanon, Quang-Cuong Pham
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands s…
Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems
Xian Zhou, Puttichai Lertkultanon, Quang-Cuong Pham
Closed kinematic chains are created whenever multiple robot arms concurrently manipulate a single object. The closed-chain constraint, when coupled with robot joint limits, dramati…
A Single-Query Manipulation Planner
Puttichai Lertkultanon, Quang-Cuong Pham
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the ro…
Admissible Velocity Propagation : Beyond Quasi-Static Path Planning for High-Dimensional Robots
Quang-Cuong Pham, Stéphane Caron, Puttichai Lertkultanon +1
Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in t…