Planning Single-Arm Manipulations with N-Arm Robots

  title={Planning Single-Arm Manipulations with N-Arm Robots},
  author={Benjamin J. Cohen and Mike Phillips and Maxim Likhachev},
Many robotic systems are comprised of two or more arms. Such systems range from dual-arm household manipulators to factory floors populated with a multitude of industrial robotic arms. While the use of multiple arms increases the productivity of the system and extends dramatically its workspace, it also introduces a number of challenges. One such challenge is planning the motion of the arm(s) required to relocate an object from one location to another. This problem is challenging because it… CONTINUE READING
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