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This paper addresses the NP-complete problem of Navigation Among Movable Obstacles (NAMO) in which a robot is required to find a collision-free path toward a goal through manipulating and transferring some movable objects on its way. The robot’s main goal is to optimize a performance criterion such as runtime, length of transit or transfer paths, number of manipulated obstacles, total number of displacements...
Multi-fingered hands are the most sophisticated and complex robotic grippers which can be planned to exhibit highly versatile grasping tasks. A relatively new regrasp planning method is by throwing and catching objects, which cannot be considered as a quasi-static problem due to its high dynamism influenced by the gravity, impact forces, air resistance, friction, etc., and thus has rarely been researched...
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