Constrained Bimanual Planning with Analytic Inverse Kinematics Article Swipe
Thomas Cohn
,
Seiji Shaw
,
Max Simchowitz
,
Russ Tedrake
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2309.08770
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2309.08770
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality constraints in the configuration space, which are difficult for trajectory optimizers. In addition, the set of feasible configurations becomes a measure zero set, which presents a challenge to sampling-based motion planners. We leverage an analytic solution to the inverse kinematics problem to parametrize the configuration space, resulting in a lower-dimensional representation where the set of valid configurations has positive measure. We describe how to use this parametrization with existing motion planning algorithms, including sampling-based approaches, trajectory optimizers, and techniques that plan through convex inner-approximations of collision-free space.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2309.08770
- https://arxiv.org/pdf/2309.08770
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4386874990
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4386874990Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2309.08770Digital Object Identifier
- Title
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Constrained Bimanual Planning with Analytic Inverse KinematicsWork title
- Type
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preprintOpenAlex work type
- Language
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enPrimary language
- Publication year
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2023Year of publication
- Publication date
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2023-09-15Full publication date if available
- Authors
-
Thomas Cohn, Seiji Shaw, Max Simchowitz, Russ TedrakeList of authors in order
- Landing page
-
https://arxiv.org/abs/2309.08770Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2309.08770Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2309.08770Direct OA link when available
- Concepts
-
Inverse kinematics, Kinematics, Inverse, Computer science, Psychology, Physical medicine and rehabilitation, Mathematics, Geometry, Medicine, Physics, Classical mechanicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- Related works (count)
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10Other works algorithmically related by OpenAlex
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