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A regrasp planning component for object reorientation

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Abstract

This paper presents a regrasp planning component for object reorientation. It includes a grasp planner, a placement planner, and a regrasp sequence solver. Given the initial and goal poses of an object, the regrasp planning component finds a sequence of robot postures and grasp configurations that reorient the object from the initial pose to the goal. The regrasp planning component works as a mid-level connector in the whole planning system for object reorientation. It is open to low-level motion planning algorithms by providing two end-effector poses as the input. It is also open to high-level assembly or symbolic planners by providing pick-and-place predicates. The proposed component is demonstrated with several simulation examples and real-robot executions using a Kawada Hiro robot and Robotiq 85 grippers.

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Notes

  1. http://nextage.kawada.jp/en/

  2. https://github.com/wanweiwei07/hiromatlab

  3. http://robotiq.com/products/adaptive-robot-gripper/

  4. http://amzn.to/29YKoKX and http://amzn.to/2avUXFZ

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Authors and Affiliations

  1. Intelligent System Research Institute/Artificial Intelligence Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan

    Weiwei Wan, Kensuke Harada, Hiromu Onda, Kazuyuki Nagata & Natsuki Yamanobe

  2. School/Graduate School of Engineering Science, Osaka University, Osaka, Japan

    Weiwei Wan & Kensuke Harada

  3. Industrial Research Institute, Hokkaido Research Organization, Sapporo, Japan

    Hisashi Igawa

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  1. Weiwei Wan
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  2. Hisashi Igawa
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  3. Kensuke Harada
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  4. Hiromu Onda
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  5. Kazuyuki Nagata
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  6. Natsuki Yamanobe
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Correspondence to Weiwei Wan.

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Wan, W., Igawa, H., Harada, K. et al. A regrasp planning component for object reorientation. Auton Robot 43, 1101–1115 (2019). https://doi.org/10.1007/s10514-018-9781-y

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