A Certified-Complete Bimanual Manipulation Planner
| Autor: | Puttichai Lertkultanon, Quang-Cuong Pham |
|---|---|
| Přispěvatelé: | School of Mechanical and Aerospace Engineering |
| Rok vydání: | 2017 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Robot kinematics Theoretical computer science Computer science 020208 electrical & electronic engineering GRASP 02 engineering and technology Object (computer science) Certificate Engineering::Mechanical engineering [DRNTU] Computer Science - Robotics 020901 industrial engineering & automation Control and Systems Engineering Orientation (geometry) Bimanual Manipulation 0202 electrical engineering electronic engineering information engineering Trajectory Key (cryptography) Robot Electrical and Electronic Engineering Certified-completeness Robotics (cs.RO) |
| DOI: | 10.48550/arxiv.1705.02573 |
| Popis: | Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we propose a manipulation planning algorithm to bring an object from an initial stable placement (position and orientation of the object on the support surface) towards a goal stable placement. The key specificity of our algorithm is that it is certified-complete: for a given object and a given environment, we provide a certificate that the algorithm will find a solution to any bimanual manipulation query in that environment whenever one exists. Moreover, the certificate is constructive: at run-time, it can be used to quickly find a solution to a given query. The algorithm is tested in software and hardware on a number of large pieces of furniture. Comment: 12 pages, 7 figures, 1 table |
| Databáze: | OpenAIRE |
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