Planning to repose long and heavy objects considering a combination of regrasp and constrained drooping

Abstract

Purpose This paper aims to present a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. Design/methodology/approach The planner includes a task-level layer and a motion-level layer. This paper formulates the manipulation planning problem at the task level by considering grasp poses as nodes and object poses for edges. This paper considers 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. Findings 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. Originality/value The authors’ contribution is that they 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.

Implicit contact-rich manipulation planning for a manipulator with insufficient payload

“…Modern studies used contact modes and mode transition graphs to guide probabilistic planning or optimization. For example, Raessa et al (2021) developed a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. Cheng et al (2022) proposed Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasi-dynamic rigid body motion planning in dexterous manipulation.…”

A Dual-Arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter

“…Fan et al [19] studied the constraints of mobile manipulators and related non-prehensile manipulation planning while taking into account contact transitions. Mohamed et al [20] proposed a planner to manipulate a long and heavy object using a graph-based approach. Their planner took advantage of inhand drooping and pivoting.…”