GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport
Jeffrey Ichnowski,Yahav Avigal,Yi Liu,Ken Goldberg,Jeffrey Ichnowski,Yahav Avigal,Yi Liu,Ken Goldberg
High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes. However, motions can be too fast-such as when the object being transported has an open-top, is fragile, or both. One way to avoid spills or damage, is to move the arm slowly. We propose an alternative: Grasp-Optimized M...
