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A divide-and-merge approach is introduced for automatic generation of high-level, discrete contact state space, represented as contact state graphs, between two contacting polyhedral solids from their geometric models. Based on the fact that a contact state graph is the union of the subgraphs called a goal-contact relaxation (GCR) graph, the approach(More)
Many robotic tasks require compliant motions, but planning such motions pose special challenges not present in collision-free motion planning. One challenge is how to achieve exactness, i.e., how to make sure that a planned path is exactly compliant to a desired contact state, especially when the con guration manifold of such a contact state is hard to(More)
Many robotic tasks require compliant motion, but planning such motion poses special challenges not present in collision-free motion planning. One challenge is how to achieve exactness, i.e., how to make sure that a planned path exactly compliant to a desired contact state, especially when the con guration manifold of such a contact state is hard to describe(More)
Planning contact motion is important for many robotic tasks but di cult in general due to high variability and geometrical complexity of contact states. It is desirable to decompose the problem into simpler subproblems. A promising decomposition treats the problem as consisting of (1) automatic generation of a discrete contact state graph, and (2) planning(More)
Random sampling strategies play critical roles in randomized motion planners, which are promising and practical for motion planning problems with many degrees of freedom (dofs). In this paper, we address random sampling in a constrained con guration space { the contact con guration space between two polyhedra, motivated by the need for generating contact(More)
Random sampling strategies play critical roles in ran-domized motion planners, which are promising and practical for motion planning problems with many degrees of freedom (dofs). In this paper, we explore random sampling in a constrained connguration space { the contact connguration space between two polyhedra, motivated by the need for generating contact(More)
Many robotic tasks require compliant motions, but planning such motions poses special challenges not present in collision-free motion planning. One challenge is how to achieve exactness, that is, (DOFs) and, thus, uncertainties (Mason 1982; Whitney 1985). Contact motion occurs on the boundary of configuration space obstacles (C-obstacles) (Lozano-Pérez(More)
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