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—When possible, non-prehensile transportation (i.e. transporting objects without grasping them) can be faster and more efficient than prehensile transportation. However, the need to explicitly consider reaction and friction forces yields kino-dynamic constraints that are difficult to take into account by traditional planning algorithms. Based on the… (More)

—In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex structure of such a " composite configuration space " that makes manipulation planning particularly challenging. Previous… (More)

Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate steps : first, find a path in the configuration space that satisfies the geometric constraints, and second, find a time-parameterization of that path satisfying the… (More)

- Quang-Cuong Pham, St'ephane Caron, Puttichai Lertkultanon, Yoshihiko Nakamura
- 2014

Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate and simpler steps : first, find a path in the configuration space that satisfies the geometric constraints (path planning), and second, find a time-parameterization of… (More)

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