Hierarchical planning for multi-contact non-prehensile manipulation
Manipulation planning involves planning the combined motion of objects in the environment as well as the robot motions to achieve them. In this paper, we explore a hierarchical approach to planning sequences of non-prehensile and prehensile actions. We subdivide the planning problem into three stage...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2017
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| Online Access: | http://hdl.handle.net/1721.1/112660 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 |