Sequential Manipulation Planning for Over-Actuated Unmanned Aerial Manipulators
Yao Su,Jiarui Li,Ziyuan Jiao,Meng Wang,Chi Chu,Hang Li,Yixin Zhu,Hangxin Liu,Yao Su,Jiarui Li,Ziyuan Jiao,Meng Wang,Chi Chu,Hang Li,Yixin Zhu,Hangxin Liu
We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of a UAM's floating base, the manipulator, and the object being manipulated, entailing a unified kinematics and dynamics model for motion planning under designated constrain...
