A geometry-free kinematic trajectory optimizer with closed-loop replanning moves grasped objects through 5x5x5 cm goal spaces with roughly 5 mm average position error, winning the RGMC in-hand manipulation track.
Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation,
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Robotic In-Hand Manipulation for Large-Range Precise Object Movement: The RGMC Champion Solution
A geometry-free kinematic trajectory optimizer with closed-loop replanning moves grasped objects through 5x5x5 cm goal spaces with roughly 5 mm average position error, winning the RGMC in-hand manipulation track.