A Closed-Chain Approach to Generating Affordance Joint Trajectories for Robotic Manipulators

This video demonstrates a representative set of simulations and real-robot experiments from the paper titled ’A Closed-Chain Approach to Generating Affordance Joint Trajectories for Robotic Manipulators’ by Janak Panthi, Farshid Alambeigi, and Mitch Pryor. It showcases the framework’s efficacy in generating joint trajectories for common constrained manipulation tasks. The open-sourced code for this project is available in the following Github repository: