Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold
Steven Jens Jorgensen,Mihir Vedantam,Ryan Gupta,Henry Cappel,Luis Sentis,Steven Jens Jorgensen,Mihir Vedantam,Ryan Gupta,Henry Cappel,Luis Sentis
We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is to consider an injective locomotion constraint manifold that defines the locomotion scheme of the robot and then using this constraint manifold to search for admissible manipulation trajectories. The problem is formulat...
