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• W3099688079 abstract "Closed kinematic chains are created whenever multiple robot arms concurrently manipulate a single object. The closed-chain constraint, when coupled with robot joint limits, dramatically changes the connectivity of the configuration space. We propose a regrasping move, termed IK-switch, which allows efficiently bridging components of the configuration space that are otherwise mutually disconnected. This move, combined with several other developments, such as a method to stabilize the manipulated object using the environment, a new tree structure, and a compliant control scheme, enables us to address complex closed-chain manipulation tasks, such as flipping a chair frame, which is otherwise impossible to realize using existing multi-arm planning methods." @default.
• W3099688079 created "2020-11-23" @default.
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• W3099688079 date "2017-10-01" @default.
• W3099688079 modified "2023-10-01" @default.
• W3099688079 title "Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems" @default.
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• W3099688079 doi "https://doi.org/10.1109/lra.2017.2708134" @default.
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