Pose-constrained whole-body planning using Task Space Region Chains

  title={Pose-constrained whole-body planning using Task Space Region Chains},
  author={Dmitry Berenson and Joel E. Chestnutt and Siddhartha S. Srinivasa and James J. Kuffner and Satoshi Kagami},
  journal={2009 9th IEEE-RAS International Conference on Humanoid Robots},
We present an efficient approach to generating paths for humanoids and other robotic manipulators that uses the Task Space Region (TSR) framework to specify manipulation tasks. TSRs can define acceptable goal poses of an end-effector or constraints on the end-effector's pose during the path, or both. First presented as a method for goal-specification [1], TSRs are a straightforward representation of sets of end-effector poses which can be sampled and which entail a clear distance metric. This… CONTINUE READING
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