Oriented Surface Reachability Maps for Robot Placement
Timo Birr,Christoph Pohl,Tamim Asfour,Timo Birr,Christoph Pohl,Tamim Asfour
For a robot to perform a grasping and manipulation task, it has to determine possible robot placements in the workspace, from which target objects or environmental elements relevant to the given task are reachable. This work presents a novel approach for finding placements for the mobile base of a humanoid robot in an unknown environment with multiple support planes. We propose a novel type of rea...
