Constraint-based Task Specification and Trajectory Optimization for Sequential Manipulation
Mun Seng Phoon,Philipp S. Schmitt,Georg V. Wichert,Mun Seng Phoon,Philipp S. Schmitt,Georg V. Wichert
To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute time-optimal robot motions for such a task specification. Our approach follows the ideas of constraint-based task specification by aiming for a minimal and object-centri...
