Puttichai Lertkultanon

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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(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 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)
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 recently(More)
Closed kinematic chains are created whenever multiple robot arms concurrently manipulate a single object. The closed-chain constraint, when coupled with robot joint limits, dramatically changes the connectivity of the configuration space. We propose a regrasping move, termed “IK-switch,” which allows efficiently bridging components of the(More)
Time-optimal trajectories with bounded velocities and accelerations are known to be parabolic, i.e., piecewise constant in acceleration. An important characteristic of this class of trajectories is the distribution of the switch points, i.e., the time instants when the acceleration of any robot joint changes. When integrating parabolic trajectory generation(More)
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