Optimal Shape and Motion Planning for Dynamic Planar Manipulation
This paper presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is repr...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Robotics: Science and Systems Foundation,
2021-03-02T19:00:31Z.
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| Subjects: | |
| Online Access: | Get fulltext |