NASA NTRS · 20210019322
Trajectory Optimization for dynamic tool Systems Swapping
Abstract
Develop capability to reliably execute a handoff of the grapple tool between two robot arms in difficult environments. Goals for the end of summer include evaluating different approaches to state estimation and determine optimal handoff poses based on a given scene.
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Dominic Bisio, Walter Waltz. Trajectory Optimization for dynamic tool Systems Swapping. https://ntrs.nasa.gov/citations/20210019322
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