Bimanual Manipulation Planner

A Manipulation Motion Planner for Dual-Arm Industrial ManipulatorsKensuke Harada*, Tokuo Tsuji**And Jean-Paul Laumond***

*National Inst. Advanced Industrial Science and Technology**Kyushu Univ. ***LAAS-CNRS

IntroductionDual-Arm Manipulator Introduced in IndustryLabor Cost to Generate Robot MotionAn example of dual-arm motion

Pick and Place by using Dual-Arm ManipulatorRight Pick - Right PlaceRight Pick - Regrasp - Left PlaceRight Pick - Right Place - Left Pick - Left PlaceRight Pick - Right Place - Right Pick - Right PlaceEtc..Harada et al. (ICRA 12)

This Research :General Framework on Pick-and-Place Motion Planner for Dual-Arm Manipulators

Previous WorksGrasp PlannerBorst et al.(99), Miller et al.(03), Harada et al.(08, 11), Przybylski et al.(11) etc.Manipulation PlannerKoga and Latombe(94), Nielson and Kavraki(00), Simeon et al.(04), Berenson et al.(09), Harada(12) etc.

Regrasping Planner Saut et al. (10) Object Place Planner (Plan object pose placed on environment)OpenRAVE(Physical Simulation Based Approach) Harada et al.(12) (Geometrical Static Approach)

Harada et al. (12)

Our Proposed Manipulation Planner Stable Grasping Posture (Harada et al. 11)Stable Object Placing Posture (Harada et al. 12)

Manipulation Planner for Dual-Arm Manipulators

Several Styles of Pick-and-Place motion : Right Pick Right Place, Right Pick Regrasp Left Place, etc can be realized according to the context of task.

Pick and Place including Intermediate Object PlaceExtension of Manipulation Planner for Single Arm Manipulator (Simeon et al. 04)Regrasping Motion Plan

Manipulation PlannerSimeon et al.(04)CGCPTransfer PathTransit PathA path connecting Initial/Final configuration composed of Transfer/Transit paths.

GraspPlacement

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CSoCSrCSlCPCGlCGrCS=qiqfConfiguration Space for Dual-Arm Manipulator

CPCGLCGRBasic StructureInitial Grasp (Left)Intermediate place (Grasped by left)Target place(Grasped by left)Initial Grasp (Right)Intermediate place (Grasped by right)Target place(Grasped by right)Bimanual graspCSoCSrCSlCS=

Initial GraspMultiple Stable Grasping Poses

Intermediate Place

Target PlaceStable Grasping PosesStable Object PosesUsing Visibility-PRM (Simeon et al. 00)Stable Grasping PosesStable Object Poses at Target PositionBimanual Grasp

Stable Bi-Manual Grasp

Manipulation Graph

Manipulation Graph SearchEach component is connected with edges.

Each edge is constructed by using a random sampling based planner (Motion Planning Kit)

Intermediate Object Posture is composed of a graph constructed by using Visibility-PRM.

Motion will change in accordance with the order of edge construction

Path OptimizationSolution Path Composed of Many Regrasps

Minimize the Number of Regrasps

Use 3 methods of Regrasps: Transfer-Transfer, Transit-Transit, and Type2-Type2.

Place Object on TableRegrasp by using Right Hand

Regrasp bw Right and Left

Place Object on TableRegrasp bw Right and Left

Examples 1

Place Object on TableRegrasp bw Right and Left

Examples 2

Regrasp bw Right and Left

Examples 3Place Object on TableRegrasp by using Right Hand

Conclusions

Manipulation Planner for Dual-Arm ManipulatorsSeveral Styles of Pick-and-Place motion : Right Pick Right Place, Right Pick Regrasp Left Place, etc can be realized according to the context of task.

Future WorkReduction of Calculation CostStrategy Optimization

Previous WorksGrasp PlannerBorst et al.(99), Miller et al.(03), Harada et al.(08), Przybylski et al.(11) etc.Manipulation PlannerKoga and Latombe(94), Nielson and Kavraki(00), Simeon et al.(04), Berenson et al.(09) etc. Object Place Planner (Plan object pose placed on environment)OpenRAVE(Physical Simulation Based Method) Harada et al.(12) (Geometrical Static Approach)Harada et al. (12)

Object Placement PlannerHarada et al.(12)

Clustering polygon models of object/environmentFor contact between two clusters, Convexity Test

Inclusion TestStability Test