2 papers
cs.RO2026
Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets
Simin Liu, Tong Zhao, Bernhard Paus Graesdal +5
If we consider human manipulation, it is clear that contact-rich manipulation (CRM)-the ability to use any surface of the manipulator to make contact with objects-can be far more e…
cs.RO2025
Dual-Arm Whole-Body Motion Planning: Leveraging Overlapping Kinematic Chains
Richard Cheng, Peter Werner, Carolyn Matl
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning…