Learning the Metric of Task Constraint Manifolds for Constrained Motion Planning

Learning the Metric of Task Constraint Manifolds for Constrained Motion Planning

Finding feasible motion for robots with high-dimensional configuration space is a fundamental problem in robotics. Sampling-based motion planning algorithms have been shown to be effective for these high-dimensional systems. However, robots are often subject to task constraints (e.g., keeping a glas...

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Bibliographic Details
Main Authors: Fusheng Zha, Yizhou Liu, Wei Guo, Pengfei Wang, Mantian Li, Xin Wang, Jingxuan Li
Format: Article
Language:English
Published: MDPI AG 2018-12-01
Series:Electronics
Subjects:
motion planning
constraint manifolds
approximate metric
projection
Online Access:https://www.mdpi.com/2079-9292/7/12/395

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https://www.mdpi.com/2079-9292/7/12/395

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