Regrasp Planning Considering Bipedal Stability Constraints

This paper presents a Center of Mass (CoM) based manipulation and regrasp planner that implements stability constraints to preserve the robot balance. The planner provides a graph of IK-feasible, collision-free and stable motion sequences, constructed using an energy based motion planning algorithm. It assures that the assembly motions are stable and prevent the robot from falling while performing dexterous tasks in different situations. Furthermore, the constraints are also used to perform an RRT-inspired task-related stability estimation in several simulations. The estimation can be used to select between single-arm and dual-arm regrasping configurations to achieve more stability and robustness for a given manipulation task. To validate the planner and the task-related stability estimations, several tests are performed in simulations and real-world experiments involving the HRP5P humanoid robot, the 5th generation of the HRP robot family. The experiment results suggest that the planner and the task-related stability estimation provide robust behavior for the humanoid robot while performing regrasp tasks

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

Robotic manipulation of tethered tools is widely seen in robotic work cells. They may cause excess strain on the tool's cable or undesired entanglements with the robot's arms. This paper presents a manipulation planner with cable orientation constraints for tethered tools suspended by tool balancers. The planner uses orientation constraints to limit the bending of the balancer's cable while the robot manipulates a tool and places it in a desired pose. The constraints reduce entanglements and decrease the torque induced by the cable on the robot joints. Simulation and real-world experiments show that the constrained planner can successfully plan robot motions for the manipulation of suspended tethered tools preventing the robot from damaging the cable or getting its arms entangled, potentially avoiding accidents. The planner is expected to play promising roles in manufacturing cells