A graph search over footsteps, grasps, and object poses, using switchable reachability maps, automatically plans humanoid loco-manipulation including rolling with regrasping.
Finding locomanipulation plans quickly in the locomotion constrained manifold,
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Humanoid Loco-manipulation Planning based on Graph Search and Reachability Maps
A graph search over footsteps, grasps, and object poses, using switchable reachability maps, automatically plans humanoid loco-manipulation including rolling with regrasping.