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High dimensional object rearrangement for a robot manipulation in highly dense configurations

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Abstract

We propose a Task and Motion Planning algorithm for a robot manipulator to rearrange objects in a narrow and highly-dense workspace. In such a workspace, there may not be enough space to rearrange the objects that obstructs the way for a robot manipulator to access a target object. The present work aims to relocate as few objects (so called obstacles) as possible for the robot manipulator to grasp the target object successfully. The proposed algorithm seeks both the sequence of obstacles to be rearranged and the corresponding places to move them. A heuristic search is employed to find a rearrangement sequence and places. Especially, in the proposed algorithm, stacking an object on the top of other objects is allowed, while searching a place to rearrange obstacles. Virtual simulations and real robot experiments show that the proposed algorithm works reasonably for dense real-world environments.

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Acknowledgements

This work was supported by the Technology Innovation Program and Industrial Strategic Technology Development Program (10077538, Development of manipulation technologies in social contexts for human-care service robots).

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Authors and Affiliations

  1. AI & Robotics Institute, Korea Institute of Science and Technology, Seoul, Korea

    Jinhwi Lee, Ulzhalgas Rakhman, Seunghyun Kang & ChangHwan Kim

  2. Mechanical Engineering, Hanyang University, Seoul, Korea

    Jinhwi Lee & Jonghyeon Park

  3. Electronic Engineering, Sogang University, Seoul, Korea

    Changjoo Nam

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  1. Jinhwi Lee
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  2. Ulzhalgas Rakhman
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  3. Changjoo Nam
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  4. Seunghyun Kang
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  5. Jonghyeon Park
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  6. ChangHwan Kim
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Correspondence to ChangHwan Kim.

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Lee, J., Rakhman, U., Nam, C. et al. High dimensional object rearrangement for a robot manipulation in highly dense configurations. Intel Serv Robotics 15, 649–660 (2022). https://doi.org/10.1007/s11370-022-00444-4

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  • DOI: https://doi.org/10.1007/s11370-022-00444-4

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