On the Design of Region-Avoiding Metrics for Collision-Safe Motion Generation on Riemannian Manifolds
Holger Klein,Noémie Jaquier,Andre Meixner,Tamim Asfour,Holger Klein,Noémie Jaquier,Andre Meixner,Tamim Asfour
The generation of energy-efficient and dynamic-aware robot motions that satisfy constraints such as joint limits, self-collisions, and collisions with the environment remains a challenge. In this context, Riemannian geometry offers promising solutions by identifying robot motions with geodesics on the so-called configuration space manifold. While this manifold naturally considers the intrinsic rob...