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We apply manipulation planning to computer animation. A new path planner is presented that automatically computes the collision-free trajectories for several cooperating arms to manipulate a movable object between two configurations. This implemented planner is capable of dealing with complicated tasks where regrasping is involved. In addition, we present a(More)
a dissertation submitted to the department of mechanical engineering and the committee on graduate studies of stanford university in partial fulfillment of the requirements for the degree of doctor of philosophy Abstract This dissertation considers the manipulation task planning problem of automatically generating the trajectories for several cooperating(More)
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