Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation
Xiaoyu Zhang Lei Yan Tin Lun Lam Sethu Vijayakumar Xiaoyu Zhang Lei Yan Tin Lun Lam Sethu Vijayakumar
This paper introduces a novel task-space decomposed motion planning framework for multi-robot simultaneous locomotion and manipulation. When several manipulators hold an object, closed-chain kinematic constraints are formed, and it will make the motion planning problems challenging by inducing lower-dimensional singularities. Unfortunately, the constrained manifold will be even more complicated wh...