Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning
We consider the problem of sequential manipulationand tool-use planning in domains that include physical interac-tions such as hitting and throwing. The approach integrates aTask And Motion Planning formulation with primitives that ei-ther impose stable kinematic constraints or differentiable dynam-...
| Main Authors: | , , , |
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| 其他作者: | |
| 格式: | 文件 |
| 语言: | English |
| 出版: |
Robotics: Science and Systems Foundation
2020
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| 主题: | |
| 在线阅读: | https://hdl.handle.net/1721.1/126626 |