Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  presents mathematical conditions and algorithm for a whole arm manipulation planning with switching contact modes. The motion planning for such a system should consider changing the dynamics and kinematics according to contact modes.  show the conditions about kinematic and dynamics aspects to be satisfied for the motion planning. The conditions give the restriction of feasible contact modes and the number of contact points. The planning problem is simplified using a randomized technique.  illustrate the approach by simulating the whole arm manipulation.
['Masahito Yashima']
I am writing a research paper on a idea On planning for whole arm manipulation with switching contact modes
[{"from": "human", "value": "I am writing a research paper on a idea On planning for whole arm manipulation with switching contact modes"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  presents mathematical conditions and algorithm for a whole arm manipulation planning with switching contact modes. The motion planning for such a system should consider changing the dynamics and kinematics according to contact modes.  show the conditions about kinematic and dynamics aspects to be satisfied for the motion planning. The conditions give the restriction of feasible contact modes and the number of contact points. The planning problem is simplified using a randomized technique.  illustrate the approach by simulating the whole arm manipulation."}]