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

Mohamed Raessa (Graduate School of Engineering Science, Osaka University, Toyonaka, Japan)
Weiwei Wan (Graduate School of Engineering Science, Osaka University, Toyonaka, Japan)
Kensuke Harada (Graduate School of Engineering Science, Osaka University, Toyonaka, Japan)

Assembly Automation

ISSN: 0144-5154

Article publication date: 8 June 2021

Issue publication date: 22 July 2021

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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.

Keywords

Citation

Raessa, M., Wan, W. and Harada, K. (2021), "Planning to repose long and heavy objects considering a combination of regrasp and constrained drooping", Assembly Automation, Vol. 41 No. 3, pp. 324-332. https://doi.org/10.1108/AA-01-2021-0008

Publisher

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Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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