Motion planning for 4 arms with dRRT* : Baxter and Motoman

4 arms of dual arm manipulators, Yaskawa Motoman, and Rethink Baxter, are controlled in a centralized manner, in a tightly coupled workspace. The solutions were generated using the dRRT* algorithm[1]( www.pracsyslab.....
The configuration space of the system has 28(4 arms x 7 DoFs/arm) dimensions.
This work was done as a result of a collaboration between the PRACSYS lab at Rutgers University, and the Computational Geometry Lab at Tel Aviv University.
[1] Scalable Asymptotically-Optimal Multi-Robot Motion Planning
- Dobson, A*`, Solovey, K^, Shome, R*, Halperin, D^, Bekris, KE*
*Rutgers University www.pracsyslab....
^Tel Aviv University acg.cs.tau.ac.il/
`University of Michigan

[@FixedA]

Please tell me how these methods are used for manipulators? Does they use configuration space to find the way? Or they work in R^3?