Kinematic loop-closure constraints significantly increase the difficulty of motion planning for articulated mechanisms. Configurations of closed-chain mechanisms do not form a single manifold, easy to parameterize, as the configurations of open kinematic chains. In general, they are grouped into several subsets with complex and a priori unknown topology. Sampling-based motion planning algorithms cannot be directly applied to such closed-chain systems. This paper describes our recent work [7] on the extension of sampling-based planners to treat this kind of mechanisms. © Springer-Verlag Berlin Heidelberg 2005.
CITATION STYLE
Cortés, J., & Siméon, T. (2005). Sampling-based motion planning under kinematic loop-closure constraints. Springer Tracts in Advanced Robotics, 17, 75–90. https://doi.org/10.1007/10991541_7
Mendeley helps you to discover research relevant for your work.