Experiments in dual-arm manipulation planning

Koga, Yoshihito; Latombe, Jean‐Claude

doi:10.1109/robot.1992.219925

Cited by 47 publications

(24 citation statements)

References 6 publications

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“…The planner essentially reuses the potential-field planning method mentioned above, with some additional checks (object graspability) as described below (see [6] for more detail).…”

Section: Arm Planningmentioning

confidence: 99%

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Multi-Arm Manipulation Planning

Koga¹,

Lastennet²,

Latombe³

et al. 1992

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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Construction requires manipulating objects of various sizes and weights, including long and heavy pipes and beams. To address this need we investigate automatic multi-arm manipulation from two complementary perspectives: control and planning. This paper, which only presents one aspect of our research, focuses on the planning issues underlying multi-arm manipulation. It describes an implemented software system that computes collision-free paths for two arms in order to transport objects from their initial locations (positions and orientations) to specified goal locations. This system demonstrates several kinds of interactions between the two arms: cooperative manipulation of long objects, independent manipulation of small objects, and transfer of objects from one arm to the other to increase the workspace size.ACKNOWLEDGMENTS: This research was partially funded by CIFE (Center for Integrated Facility Engineering) and DARPA contract DAAA21-89-C0002 (Army). Y. Koga was supported in part by a Canadian NSERC Fellowship.

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“…The planner essentially reuses the potential-field planning method mentioned above, with some additional checks (object graspability) as described below (see [6] for more detail).…”

Section: Arm Planningmentioning

confidence: 99%

“…Our software integrates several efficient planning methods developed in our laboratory over the past few years [7,2,6], as well as some new techniques. It, is written in C and runs under UNIX on a DEC 5000 workstation.…”

Section: Introductionmentioning

confidence: 99%

Multi-Arm Manipulation Planning

Koga¹,

Lastennet²,

Latombe³

et al. 1992

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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“…Online manipulation planning for objects moving on a conveyer belt was carried out in [14] for two 2-DOF arms. In [12], one of the first approaches to planning for dualarm manipulation was presented using a randomized planner. Multi-arm manipulation planning, including the planning of transfer paths and grasp and ungrasp motions for manipulating an object using multiple arms was presented in [13].…”

Section: Related Workmentioning

confidence: 99%

Search-based planning for dual-arm manipulation with upright orientation constraints

Cohen

Chitta

Likhachev

2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-Dual-arm manipulation is an increasingly important skill for robots operating in home, retail and industrial environments. Dual-arm manipulation is especially essential for tasks involving large objects which are harder to grasp and manipulate using a single arm. In this work, we address dualarm manipulation of objects in indoor environments. We are particularly focused on tasks that involve an upright orientation constraint on the grasped object. Such constraints are often present in human environments, e.g. when manipulating a tray of food or a container with fluids. In this paper, we present a search-based approach that is capable of planning dual-arm motions, often within one second, in cluttered environments while adhering to the orientation constraints. Our approach systematically constructs a graph in task space and generates motions that are consistent across runs with similar start/goal configurations and are low-cost. These motions come with guarantees on completeness and bounds on the suboptimality with respect to the graph that encodes the planning problem. For many problems, the consistency of the generated motions is important as it helps make the actions of the robot more predictable for a human interacting with the robot.

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“…The general framework proposed in [2] for one robot and several moving objects with discrete grasps and placements was first implemented for two simple robots: a translating polygon [2] and a 3dof planar manipulator [15]. This framework was extended in [11,12] to multi-arm manipulation planning where several robots cooperate to carry a single movable object amidst obstacles. The planner proposed in [12] first plans the motions of the movable object using a RPP technique [4], and then finds the transfer/transit motions of the arms to move the object along the computed path.…”

Section: Discrete Casementioning

confidence: 99%

A General Manipulation Task Planner

Siméon

Cortés

Sahbani

et al. 2004

Springer Tracts in Advanced Robotics

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Abstract. This paper addresses the manipulation planning problem which deals with motion planning for robots manipulating movable objects among static obstacles. We propose a general manipulation planning approach capable to deal with continuous sets for modeling both the possible grasps and the stable placements of the movable object, rather than discrete sets generally assumed by the existing planners. The algorithm relies on a topological property that characterizes the existence of solutions in the subspace of configurations where the robot grasps the object placed at a stable position. This property leads to reduce the problem by structuring the search-space. It allows us to devise a manipulation planner that directly captures in a probabilistic roadmap the connectivity of sub-dimensional manifolds of the composite configuration space. Experiments conducted with the planner demonstrate its efficacy to solve complex manipulation problems.

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Experiments in dual-arm manipulation planning

Cited by 47 publications

References 6 publications

Multi-Arm Manipulation Planning

Multi-Arm Manipulation Planning

Search-based planning for dual-arm manipulation with upright orientation constraints

A General Manipulation Task Planner

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