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This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation.
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T. Lozano-Pérez and L. P. Kaelbling, “A constraint-based method for solving sequential manipulation planning problems,” in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems , 2014, pp. 3684–3691
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Y. C. Nakamura, D. M. Troniak, A. Rodriguez, M. T. Mason, and N. S. Pollard, “The complexities of grasping in the wild,” in 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) . IEEE, 2017, pp. 233–240
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A. Bhatia, A. M. Johnson, and M. T. Mason, “Direct drive hands: Force-motion transparency in gripper design,” in Robotics: science and systems , 2019
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F. H. N. Doshi and A. Rodriguez, “Hybrid differential dynamic programming for planar manipulation primitives,” in ICRA , 2020
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B. Aceituno-Cabezas and A. Rodriguez, “A global quasi-dynamic model for contact-trajectory optimization,” in RSS , 2020
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E. Huang, X. Cheng, and M. T. Mason, “Efficient contact mode enumeration in 3d,” in Workshop on the Algorithmic Foundations of Robotics , 2020
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Y. Hou, Z. Jia, and M. T. Mason, “Manipulation with shared grasping,” 2020
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X. Cheng, E. Huang, Y. Hou, and M. T. Mason, “Contact mode guided sampling-based planning for quasistatic dexterous manipulation in 2d,” IEEE International Conference on Robotics and Automation , 2021
2021
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C. Chen, P. Culbertson, M. Lepert, M. Schwager, and J. Bohg, “Trajectotree: Trajectory optimization meets tree search for planning multi-contact dexterous manipulation,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2021, pp. 8262–8268
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J. Papon, A. Abramov, M. Schoeler, and F. Worgotter, “Voxel cloud connectivity segmentation-supervoxels for point clouds,” in Proceedings of the IEEE conference on computer vision and pattern recognition , 2013, pp. 2027–2034
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