ABSTRACT
Random sampling strategies play critical roles in ran domized motion planners, which are promising and practical for motion planning problems with many de grees of freedom (dof). In this paper, we address ran dom sampling in a constrained configuration space - the contact configuration space between two polyhedra, mo tivated by the need for generating contact motion plans. Given a contact formation (CF) between two polyhe dra A and B, our approach is to randomly generate configurations of A satisfying the contact constraints of the CF. Key to the approach is to guarantee that sampling happens only in the constrained space to be efficient, which has not been addressed in the litera ture. We first describe our random sampling strategy for configurations constrained by CFs consisting of one or two principal contacts (PCs) and then present im plementation results.
