A Unified Trajectory Generation Algorithm for Dynamic Dexterous Manipulation
Cheng Zhou,Wentao Gao,Weifeng Lu,Yanbo Long,Sicheng Yang,Longfei Zhao,Bidan Huang,Yu Zheng,Cheng Zhou,Wentao Gao,Weifeng Lu,Yanbo Long,Sicheng Yang,Longfei Zhao,Bidan Huang,Yu Zheng
This paper proposes a novel efficient multi-phase trajectory generation algorithm for dynamic dexterous manipulation tasks, such as throwing, catching, dynamic regrasping, and dynamic handover, which can be decomposed into multiple manipulation primitives, including sticking, rolling, approaching, separating, colliding, and grasping. Each manipulation primitive is formulate as a free-terminal opti...
