A certified-complete bimanual manipulation planner

• Main Authors: Lertkultanon, Puttichai, Pham, Quang-Cuong
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2019
• Subjects: Bimanual Manipulation; DRNTU::Engineering::Mechanical engineering; Certified-completeness
• Online Access: https://hdl.handle.net/10356/105544; http://hdl.handle.net/10220/47826
• Institution: Nanyang Technological University

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we propose a manipulation planning algorithm to bring an obj...