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Title: A certified-complete bimanual manipulation planner
Authors: Lertkultanon, Puttichai
Pham, Quang-Cuong
Keywords: Bimanual Manipulation
DRNTU::Engineering::Mechanical engineering
Issue Date: 2018
Source: Lertkultanon, P., & Pham, Q.-C. (2018). A certified-complete bimanual manipulation planner. IEEE Transactions on Automation Science and Engineering, 15(3), 1355-1368. doi:10.1109/TASE.2018.2791478
Series/Report no.: IEEE Transactions on Automation Science and Engineering
Abstract: 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 a 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. Note to Practitioners—This paper presents an algorithm to solve a difficult class of bimanual manipulation planning problems where a movable object can be moved only when grasped by two robots. This problem arises naturally when manipulating a large and/or heavy object such as a piece of furniture and is therefore essential to industrial automation. The algorithm first pre-computes a certificate, a set of robot motions to move the object between different placement classes that helps guarantee that the algorithm will find a solution to any planning query whenever one exists. This certificate is then used to quickly construct a solution trajectory to a planning query and can be reused under the same environment. The algorithm has been empirically verified through software and hardware experiments on a number of large pieces of furniture. An open-source implementation is provided.
ISSN: 1545-5955
DOI: 10.1109/TASE.2018.2791478
Rights: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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