Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
Xianyi Cheng Eric Huang Yifan Hou Matthew T. Mason Xianyi Cheng Eric Huang Yifan Hou Matthew T. Mason
The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level motion primitives like grasping and pushing. However, such motion primitives are often not adequate to describe dexterous manipulation motions. In this work, we propose a method for dexterous manipulation planning at a mor...