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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)
This paper considers the automatic generation of motion paths for several cooperating robot arms to manipulate a movable object between two conngurations among obstacles. To avoid collisions the robots may have to change their grasp of the object, for example, by passing it from one arm to another. The case where the movable object can only be moved by two(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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