Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups

10/29/2018
by   Rahul Shome, et al.
0

Rearranging objects on a planar surface arises in a variety of robotic applications, such as product packaging. Using two arms can improve efficiency but introduces new computational challenges. This paper studies the structure of dual-arm rearrangement for synchronous, monotone tabletop setups and develops an optimal mixed integer model. It then describes an efficient and scalable algorithm, which first minimizes the cost of object transfers and then of moves between objects. This is motivated by the fact that, asymptotically, object transfers dominate the cost of solutions. Moreover, a lazy strategy minimizes the number of motion planning calls and results in significant speedups. Theoretical arguments support the benefits of using two arms and indicate that synchronous execution, in which the two arms perform together either transfers or moves, introduces only a small overhead. Experiments support these points and show that the scalable method can quickly compute solutions close to the optimal for the considered setup.

READ FULL TEXT

page 4

page 15

research
07/17/2022

Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement

We investigate the problem of coordinating two robot arms to solve non-m...
research
08/26/2021

Dual-arm Coordinated Manipulation for Object Twisting with Human Intelligence

Robotic dual-arm twisting is a common but very challenging task in both ...
research
05/18/2020

Synchronized Multi-Arm Rearrangement Guided by Mode Graphs with Capacity Constraints

Solving task planning problems involving multiple objects and multiple r...
research
11/20/2022

Multi-Arm Bin-Picking in Real-Time: A Combined Task and Motion Planning Approach

Automated bin-picking is a prerequisite for fully automated manufacturin...
research
01/23/2021

A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks

This paper develops a planner that plans the action sequences and motion...
research
07/16/2021

CoCo: Online Mixed-Integer Control via Supervised Learning

Many robotics problems, from robot motion planning to object manipulatio...
research
10/06/2018

Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing

Robotic picking from cluttered bins is a demanding task, for which Amazo...

Please sign up or login with your details

Forgot password? Click here to reset