2 research outputs found
Dual-arm Assembly Planning Considering Gravitational Constraints
Planning dual-arm assembly of more than three objects is a challenging Task
and Motion Planning (TAMP) problem. The assembly planner shall consider not
only the pose constraints of objects and robots, but also the gravitational
constraints that may break the finished part. This paper proposes a planner to
plan the dual-arm assembly of more than three objects. It automatically
generates the grasp configurations and assembly poses, and simultaneously
searches and backtracks the grasp space and assembly space to accelerate the
motion planning of robot arms. Meanwhile, the proposed method considers
gravitational constraints during robot motion planning to avoid breaking the
finished part. In the experiments and analysis section, the time cost of each
process and the influence of different parameters used in the proposed planner
are compared and analyzed. The optimal values are used to perform real-world
executions of various robotic assembly tasks. The planner is proved to be
robust and efficient through the experiments
Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs
This work focuses on the problem of in-hand manipulation and regrasping of
objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG)
as a representation on which we define planning for in-hand manipulation and
regrasping. The DMG is a disconnected undirected graph that represents the
possible motions of a finger along the object's surface. We formulate the
in-hand manipulation and regrasping problem as a graph search problem from the
initial to the final configuration. The resulting plan is a sequence of
coordinated in-hand pushing and regrasping movements. We propose a dual-arm
system for the execution of the sequence where both hands are used
interchangeably. We demonstrate our approach on an ABB Yumi robot tasked with
different grasp reconfigurations