Kensuke Harada's Homepage
Pick and Place Planning for Dual-Arm Manipulators
Click image to watch video (IREX 2011)
Abstract(ICRA2012) - This paper proposes a method for planning the
pick-and-place motion of an object by dual-arm manipulators.
Our planner is composed of the offline and the online phases.
The offline phase generates a set of regions on the object and
the environment surfaces and calculates several parameters
needed in the online phase. In the online phase, the planner
selects a grasping pose of the robot and a putting posture
of the object by searching for the regions calculated in the
offline phase. By using the proposed method, we can also
plan the trajectory of the robot, and the regrasping strategy
of the dual-arm. Here, the putting posture of the object can
be planned by considering stability of the object placed on
the environment. The effectiveness of the proposed method is
confirmed by simulation and experimental results by using the
dual-arm robot NX-HIRO.
Paper: ICRA2012
A part of the source code is available from http://choreonoid.org/GraspPlugin/