Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning
Marc Toussaint Jung-Su Ha Ozgur S. Oguz Marc Toussaint Jung-Su Ha Ozgur S. Oguz
Existing work on sequential manipulation planning and trajectory optimization typically assumes the robot, environment and tools to be given. However, in particular in industrial applications, it is highly interesting to ask, what would be an optimal robot design, tool shape, or robot station geometry for a particular ensemble of manipulation tasks. To tackle this problem we propose a formulation ...