Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D
Xianyi Cheng,Eric Huang,Yifan Hou,Matthew T. Mason,Xianyi Cheng,Eric Huang,Yifan Hou,Matthew T. Mason
This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasi-dynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous state transitions and discrete contact mode switches, without the need for pre-specified contact sequences or pre-designed motion primitives. The key idea is to us...
