A Sampling-based Motion Planning Framework for Complex Motor Actions
Shlok Sobti,Rahul Shome,Swarat Chaudhuri,Lydia E. Kavraki,Shlok Sobti,Rahul Shome,Swarat Chaudhuri,Lydia E. Kavraki
We present a framework for planning complex motor actions such as pouring or scooping from arbitrary start states in cluttered real-world scenes. Traditional approaches to such tasks use dynamic motion primitives (DMPs) learned from human demonstrations. We enhance a recently proposed state-of-the-art DMP technique capable of obstacle avoidance by including them within a novel hybrid framework. Th...
