Efficient Planning for Near-Optimal Compliant Manipulation Leveraging Environmental Contact
Path planning classically focuses on avoiding environmental contact. However, some assembly tasks permit contact through compliance, and such contact may allow for more efficient and reliable solutions under action uncertainty. But, optimal manipulation plans that leverage environmental contact are...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2020
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| Online Access: | https://hdl.handle.net/1721.1/125865 |