Probabilistic Motion Planning
for Collision-Free Object Manipulation
(Work done in collaboration with Marcelo Kallmann)
Our main purpose is the automatic synthesis of collision-free reaching and grasping motions for both hands, with automatic column control, leg flexion and walking. In order to solve this difficult problem, we apply motion planning algorithms based on probabilistic roadmaps to interactively control a reduced set of DOFs of a human-like character.