Abstract:We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is to consider a generic locomotion constraint manifold that defines the locomotion scheme of the robot and then using this constraint manifold to search for admissible manipulation trajectories. The problem is formulated as a weighted-A* graph search whose planner output is a sequence of contact transitions and a path progression traj… Show more
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