Puttichai Lertkultanon

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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)
— 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)
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