Generating a sequence of pose configurations for a robotic manipulator based on force and velocity ellipsoids

Abstract

Techniques for generating pose sequences for a robotic manipulator to perform a task based on velocity ellipsoids and force ellipsoids are described herein. For example, a computer system can generate candidate pose configurations of a robotic manipulator. Each candidate pose configuration can include a first end of the robotic manipulator being positioned along a trajectory. The computer system can determine a velocity ellipsoid and a force ellipsoid for each candidate pose configuration. The computer system can generate a sequence of pose configurations for the robotic manipulator to perform a task along the trajectory by minimizing a cost function subject to one or more constraints based at least in part on (i) the candidate pose configurations, (ii) a first weight for the velocity ellipsoid, and (iii) a second weight for the force ellipsoid.