RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks
Yeping Wang,Pragathi Praveena,Daniel Rakita,Michael Gleicher,Yeping Wang,Pragathi Praveena,Daniel Rakita,Michael Gleicher
Generating feasible robot motions in real-time requires achieving multiple tasks (i.e., kinematic requirements) simultaneously. These tasks can have a specific goal, a range of equally valid goals, or a range of acceptable goals with a preference toward a specific goal. To satisfy multiple and potentially competing tasks simultaneously, it is important to exploit the flexibility afforded by tasks ...
