Topology-based representations for motion planning and grasping

Dmitry Zarubin
The planning and synthesis of human-like motions remains an open area of robotics research. This thesis aims to employ ideas and methods from topology in order to improve current motion planning algorithms and to enable the synthesis of dexterous manipulations. The first half of the presented work is devoted to a representational problem and how it can be addressed using topology-based invariants. The mapping from abstract spaces to the configuration space is derived. Representations are...
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