Theory and Implementation of Dual-Arm Manipulation Planning
نویسنده
چکیده
In this paper, we study theory and implementation issues of dual-arm manipulation planning. We mainly discuss on three topics: (1) static geometrical approach on planning the position/orientation an object placed at the designated part on the environment, (2) pick-and-place planning of a dualarm manipulator where the planner automatically determines whether both arms have to be used simultaneously or not according to the context, and (3) implementation issues of dual-arm manipulation where manipulation planning can be performed within a reasonable time. The effectiveness will be verified through several experimental results.
منابع مشابه
Single- and Dual-Arm Motion Planning with Heuristic Search
Heuristic searches such as A* search are a popular means of finding least-cost plans due to their generality, strong theoretical guarantees on completeness and optimality, simplicity in implementation and consistent behavior. In planning for robotic manipulation, however, these techniques are commonly thought of as impractical due to the highdimensionality of the planning problem. In this paper...
متن کاملDual arm manipulation - A survey
Recent advances in both anthropomorphic robots and bimanual industrial manipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing humanlike tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in humans and methods for using the resulting k...
متن کاملReactionless Path Planning Strategies for Capture of Tumbling Objects in Space Using a Dual-Arm Robotic System
This paper presents strategies for point-to-point reactionless manipulation of a satellite mounted dual-arm robotic system for capture of tumbling orbiting objects, such as out-ofcommission satellites and space debris. Use of the dual-arm robot could be more effective than the single arm when there is no provision for a grapple fixture or the object is tumbling. The dual arms can also provide d...
متن کاملEnergy Optimum Reactionless Path Planning for Capture of Tumbling Orbiting Objects using a Dual-Arm Robot
This paper presents energy optimum capture of orbiting objects using a dual-arm robot mounted on a service satellite. An attempt has been made to formulate energy efficient trajectories for the dual-arm robot such that the reaction moments acting on the base satellite are minimum. To achieve this, first a local optimization problem is formulated exploiting redundancy associated with the constra...
متن کاملEfficient Motion and Grasp Planning for Humanoid Robots
The control system of a robot operating in a human-centered environments should address the problem of motion planning to generate collision-free motions for grasping and manipulation tasks. To deal with the complexity of these tasks in such environments, different motion planning algorithms can be used. We present a motion planning framework for manipulation and grasping tasks consisting of di...
متن کامل