Human-Guided Planning for Complex Manipulation Tasks Using the Screw Geometry of Motion
Dasharadhan Mahalingam,Nilanjan Chakraborty,Dasharadhan Mahalingam,Nilanjan Chakraborty
In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are constraints on the motion of the end effector of the robot. Examples of such tasks include opening a door, opening a drawer, transferring granular material from one cont...
