Vision-based non-smooth kinematic stratified object manipulation

This paper presents experimental demonstrations and verification of a vision-based stratified motion planning method for the case where the base manifold upon which the motion planning occurs is not smooth. Robotic applications of the method include motion planning for legged robotics over non-smooth (but known) terrain and manipulation of non-smooth objects with multiple robotic manipulators. Experimental results with multiple robots manipulating a common non-smooth object are presented.