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cs.RO2023
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz +1
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixe…
cs.RO2023
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets
Thomas Cohn, Mark Petersen, Max Simchowitz +1
Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory o…