A Closed-Chain Approach to Generating Affordance Joint Trajectories for Robotic Manipulators
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YouTubeIEEE Transactions on Robotics
A Closed-Chain Approach to Generating Affordance Joint Trajectories for Robotic Manipulators
In a recent T-RO paper, the authors introduce a fast, hardware-agnostic planner generating real-time joint trajectories from screw-based affordances—useful for valve turns, drawer pulls, etc. Validated on Spot and UR5 across 10 tasks. This attachment video includes demonstrating a representative set of simulations and real-robot experiments ...
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