HapticRRT plans over the quasi-static equilibrium manifold and discovers contact-rich manipulation strategies for pendulum pushing, spring-clip opening, and crowded bookshelf insertion.
Sampling-based methods for motion planning with constraints,
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Recasting Classical Motion Planning for Contact-Rich Manipulation
HapticRRT plans over the quasi-static equilibrium manifold and discovers contact-rich manipulation strategies for pendulum pushing, spring-clip opening, and crowded bookshelf insertion.