Humanoid motion planning for dual-arm manipulation and re-grasping tasks

• Published in: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2464 - 2470
• Main Authors: Vahrenkamp, N., Berenson, D., Asfour, T., Kuffner, J., Dillmann, R.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2009
• Subjects: Computational efficiency; Grasping; Humanoid robots; Iterative methods; Kinematics; Motion planning; Orbital robotics; Sampling methods; Strategic planning; Trajectory

In this paper, we present efficient solutions for planning motions of dual-arm manipulation and re-grasping tasks. Motion planning for such tasks on humanoid robots with a high number of degrees of freedom (DoF) requires computationally efficient approaches to determine the robot's full joint c...