DeepAI AI Chat
Log In Sign Up

Planning to Repose Long and Heavy Objects Considering a Combination of Regrasp and Constrained Drooping

01/25/2021
by   Mohamed Raessa, et al.
0

This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate the manipulation planning problem at the task level by considering grasp poses as nodes and object poses for edges. We consider regrasping and constrained in-hand slip (drooping) during building graphs and find mixed regrasping and drooping sequences by searching the graph. The generated sequences autonomously divide the object weight between the arm and the support surface and avoid configuration obstacles. Cartesian planning is used at the robot motion level to generate motions between adjacent critical grasp poses of the sequence found by the task level layer. Various experiments are carried out to examine the performance of the proposed planner. The results show improved capability of robot arms to manipulate long and heavy objects using the proposed planner. Our contribution is we initially develop a graph-based planning system that reasons both in-hand and regrasp manipulation motion considering external supports. On one hand, the planner integrates regrasping and drooping to realize in-hand manipulation with external support. On the other hand, it switches states by releasing and regrasping objects when the object is in stably placed. The search graphs' nodes could be retrieved from remote cloud servers that provide a large amount of pre-annotated data to implement cyber intelligence.

READ FULL TEXT

page 2

page 5

page 6

page 7

page 8

page 9

page 10

12/08/2018

Preparatory Manipulation Planning using Automatically Determined Single and Dual Arms

This paper presents a manipulation planning algorithm for robots to reor...
04/25/2019

Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs

This work focuses on the problem of in-hand manipulation and regrasping ...
09/29/2018

In-Hand Manipulation via Motion Cones

In this paper, we present the mechanics and algorithms to compute the se...
03/06/2023

Graph-based View Motion Planning for Fruit Detection

Crop monitoring is crucial for maximizing agricultural productivity and ...
09/24/2019

Tethered Tool Manipulation Planning with Cable Maneuvering

In this paper, we present a planner for manipulating tethered tools usin...
12/15/2018

Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer

Robotic manipulation of tethered tools is widely seen in robotic work ce...
01/20/2022

Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning

Constraining contacts to remain fixed on an object during manipulation l...