Experiments in dual-arm manipulation planning

  title={Experiments in dual-arm manipulation planning},
  author={Yoshihito Koga and Jean-Claude Latombe},
The goal of dual-arm manipulation planning is to plan the path of two cooperating robot arms in order to carry a movable object from a given initial configuration to a given goal configuration amidst obstacles. This problem typically occurs in tasks requiring the manipulation of long and/or heavy objects. It differs from the classical path planning problem in that it involves grasp and ungrasp operations that dynamically change both the kinematic structure of the total robotic system and the… CONTINUE READING
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