Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization
Ramkumar Natarajan,Garrison L.H. Johnston,Nabil Simaan,Maxim Likhachev,Howie Choset,Ramkumar Natarajan,Garrison L.H. Johnston,Nabil Simaan,Maxim Likhachev,Howie Choset
Robots often have to perform manipulation tasks in close proximity to people (Fig 1). As such, it is desirable to use a robot arm that has limited joint torques so as to not injure the nearby person. Unfortunately, these limited torques then limit the payload capability of the arm. By using contact with the environment, robots can expand their reachable workspace that, otherwise, would be inaccess...
