Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Efficient Sampling of Transition Constraints for Motion Planning under
  Sliding Contacts   Contact-based motion planning for manipulation, object exploration or
balancing often requires finding sequences of fixed and sliding contacts and
planning the transition from one contact in the environment to another.
However, most existing algorithms concentrate on the control and learning
aspect of sliding contacts, but do not embed the problem into a principled
framework to provide guarantees on completeness or optimality. To address this
problem, we propose a method to extend constraint-based planning using contact
transitions for sliding contacts. Such transitions are elementary operations
required for whole contact sequences. To model sliding contacts, we define a
sliding contact constraint that permits the robot to slide on the surface of a
mesh-based object. To exploit transitions between sliding contacts, we develop
a contact transition sampler, which uses three constraint modes: contact with a
start surface, no contact and contact with a goal surface. We sample these
transition modes uniformly which makes them usable with sampling-based planning
algorithms. Our method is evaluated by testing it on manipulator arms of two,
three and seven internal degrees of freedom with different objects and various
sampling-based planning algorithms. This demonstrates that sliding contact
constraints could be used as an elementary method for planning long-horizon
contact sequences for high-dimensional robotic systems.

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The categories of this paper are: bayes-an
30
The categories of this paper are: q-alg
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The categories of this paper are: chao-dyn
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The categories of this paper are: hep-lat
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The categories of this paper are: hep-th
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The categories of this paper are: cmp-lg
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The categories of this paper are: econ
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The categories of this paper are: eess
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The categories of this paper are: funct-an
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The categories of this paper are: dg-ga
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The categories of this paper are: nucl-th
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The categories of this paper are: stat
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The categories of this paper are: solv-int
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The categories of this paper are: q-bio
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The categories of this paper are: astro-ph
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The categories of this paper are: gr-qc