Abstract
The motion of manipulation in a task can be decomposed into several motion primitives called “skills.” Skill-based motion planning gives the possibility of performing tasks as skillfully as human beings do. On the other hand, the backprojection method performed in configuration space has often been used in fine-motion planning. This paper describes fine-motion planning in three-dimensional space using skill-based backprojection. Now that skill-based planning in three-dimensional space has been developed, it becomes possible to plan manipulation motions like the behavior of the human hand.
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Nakamura, A., Ogasawara, T., Suehiro, T. et al. Fine motion strategy in three-dimensional space using skill-based backprojection. Artificial Life and Robotics 2, 134–137 (1998). https://doi.org/10.1007/BF02471170
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DOI: https://doi.org/10.1007/BF02471170