Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn,Seiji Shaw,Max Simchowitz,Russ Tedrake,Thomas Cohn,Seiji Shaw,Max Simchowitz,Russ Tedrake
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 fixed. This amounts to complicated nonlinear equality constraints in the configuration space, which are difficult for trajectory optimizers. In addition, the set of feasible configurations becomes a measure zero set, which p...
