Grasping and manipulation is an essential capability of humanoid robots operating in human-centered environments. In order to realize such manipulation motions on our humanoid robots of the ARMAR family sophisticated algorithms for grasp planning, motion planning, manipulation planning and motion execution are needed. In this context we are offering several bachelor and master theses, e .g. real-time grasp planning, planning constrained manipulation motions, or sensor-based motion execution.
Grasping and Manipulation with Humanoid Robots
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