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Document type:
Konferenzbeitrag 
Author(s):
Pekarovskiy, A.; Nierhoff, T.; Schenek, J.; Nakamura, Y.; Hirche, S.; Buss, M. 
Title:
Online deformation of optimal trajectories for constrained nonprehensile manipulation 
Pages contribution:
2481-2487 
Abstract:
This paper discusses an online dynamic motion generation scheme for nonprehensile object manipulation by using a set of predefined motions and a trajectory deformation algorithm capable of incorporating positional and velocity boundary constraints. By creating optimal trajectories offline and deforming them online, computational complexity during execution is reduced considerably. As tight convex hulls of the deformed trajectories can be found, possible obstacles or workspace boundaries can be cir...    »
 
Book / Congress title:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 
Organization:
IEEE 
Date of congress:
May 26th - 30th, 2015 
Publisher address:
Seattle, Washington, USA 
Year:
2015 
Language:
en 
Semester:
SS 15