TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation
Claire Chen,Preston Culbertson,Marion Lepert,Mac Schwager,Jeannette Bohg,Claire Chen,Preston Culbertson,Marion Lepert,Mac Schwager,Jeannette Bohg
Dexterous manipulation tasks often require contact switching, where fingers make and break contact with the object. We propose a method that plans trajectories for dexterous manipulation tasks involving contact switching using contact-implicit trajectory optimization (CITO) augmented with a high-level discrete contact sequence planner. We first use the high-level planner to find a sequence of fing...
