2 papers
cs.RO2019
TORM: Fast and Accurate Trajectory Optimization of Redundant Manipulator given an End-Effector Path
Mincheul Kang, Heechan Shin, Donghyuk Kim +1
A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given endeffector path…
cs.RO2018
Harmonious Sampling for Mobile Manipulation Planning
Mincheul Kang, Donghyuk Kim, Sung-Eui Yoon
Mobile manipulation planning commonly adopts a decoupled approach that performs planning separately on the base and the manipulator. While this approach is fast, it can generate su…