Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts

  title={Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts},
  author={Marielle Khoury and Andreas Orthey and Marc Toussaint},
  journal={2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)},
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most existing algorithms concentrate on the control and learning aspect of sliding contacts, but do not embed the problem into a principled framework to provide guarantees on completeness or optimality. To address this problem, we propose a method to extend constraint… 
1 Citations

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