Researchers Harbin Institute of Technology and Idiap Research Institute @IdiapCh in a recent T-RO paper developed an optimal control approach using tool affordances and directional manipulability to solve motion planning problems.

Paper title: An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks

Authors: Boyang Ti, Yongsheng Gao, Jie Zhao, and Sylvain Calinon

Paper link: https://ieeexplore.ieee.org/document/...

#TaskAnalysis #OptimalControl #PathPlanning #RobotManipulator