Regrasp Planning Considering Bipedal Stability Constraints

Abstract

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

“…A method for developing locally optimal trajectories for aerial manipulation in constrained environments is presented in [17]. A solution for regrasp planning considering stability constraints in humanoid robots was shown in [16]. These approaches help to illustrate the usefulness of considering environmental or inner constraints in different manipulation scenarios.…”

Reducing Uncertainty Using Placement and Regrasp Planning on a Triangular Corner Fixture

“…The most fundamental problem of placement estimation is finding a stable placement on a horizontal plane. In this case, the object's stability can be determined by checking if its Center of Mass (CoM) projection passes through the convex supporting polygon [27] [28] [29]. As an extension to the fundamental problem, Wan et al studied the placement planning on a tilted plane [30], a support pin [28], and arbitrary support structures [31].…”

Integrated Motion Planning for Assembly Task with Part Manipulation Using Re-Grasping

“…Part manipulation and re-grasping has been addressed in literature for Single and dual-arm robot [13][14][15][16]. In general, the part manipulation is performed in configuration space (C-Space) jointly defined for the robot, and the object to be manipulated.…”