Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction
Rebecca H. Jiang,Neel Doshi,Ravi Gondhalekar,Alberto Rodriguez,Rebecca H. Jiang,Neel Doshi,Ravi Gondhalekar,Alberto Rodriguez
We propose a framework for co-optimizing the shape and motion of rigid robotic effectors for planar tasks. While planning object and robot-object contact trajectories is extensively studied, designing an effector that can execute the planned trajectories receives less attention. As such, our framework synthesizes an object trajectory and object-effector contact trajectory into an effector trajecto...
