Contact-implicit Trajectory and Grasp Planning for Soft Continuum Manipulators
Moritz A. Graule,Clark B. Teeple,Robert J. Wood,Moritz A. Graule,Clark B. Teeple,Robert J. Wood
As robots begin to move from structured industrial environments to the real world, they must be equipped to not only safely interact with the environment, but also reason about how to leverage contact to perform tasks. In this work, we develop a modeling and motion planning framework for continuum robots that accounts for contact anywhere along the robot. We first present an analytical model for c...
