A Mid-level Planning System for Object Reorientation
This paper presents a mid-level planning system 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 mid-level planning system finds a sequence of hand configurations that reorient the object fro...
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| Veröffentlicht in: | arXiv.org 2016-08 |
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| creator | Wan, Weiwei Igawa, Hisashi Harada, Kensuke Wu, Zepei Onda, Hiromu Nagata, Kazuyuki Yamanobe, Natsuki |
| description | This paper presents a mid-level planning system 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 mid-level planning system finds a sequence of hand configurations that reorient the object from the initial to the goal. This mid-level planning system is open to low-level motion planning algorithm by providing two end-effector poses as the input. It is also open to high-level symbolic planners by providing interface functions like placing an object to a given position at a given rotation. The planning system is demonstrated with several simulation examples and real-robot executions using a Kawada Hiro robot and Robotiq 85 grippers. |
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| subjects | Algorithms Computer simulation Grippers Motion planning Planning Robots |
| title | A Mid-level Planning System for Object Reorientation |
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