Learning Topological Motion Primitives for Knot Planning
Mengyuan Yan,Gen Li,Yilin Zhu,Jeannette Bohg,Mengyuan Yan,Gen Li,Yilin Zhu,Jeannette Bohg
In this paper, we approach the challenging problem of motion planning for knot tying. We propose a hierarchical approach in which the top layer produces a topological plan and the bottom layer translates this plan into continuous robot motion. The top layer decomposes a knotting task into sequences of abstract topological actions based on knot theory. The bottom layer translates each of these abst...
