Planning Robotic Manipulation with Tight Environment Constraints
George Jose Pollayil,Giorgio Grioli,M. Bonilla,Antonio Bicchi,George Jose Pollayil,Giorgio Grioli,M. Bonilla,Antonio Bicchi
In many real-world manipulation problems, the constraints imposed by the environment on an object are tight. In these cases, most state-of-the-art planners struggle to fit satisfactorily in low dimensional sub-manifolds, while still ensuring geometric and force feasibility. On the other hand, humans are at ease with such situations and indeed exploit constraints to manipulate objects proficiently....
