Dual-arm Manipulation Planning Kensuke Harada, Weiwei Wan and Ixchel G. Ramiez-Alpizar Manipulation Research Group National Institute of Advanced Industrial Science and Technology (AIST) 1
Today s Talk Whole Body Manipulation Dual-arm Manipulation Planning (Recent Work) 2
Whole Body Manipulation by Humanoid Robots Enhancing its Mobility Performing Tasks Utilization of Hand Reaction Force Pushing Lifting up ZMP Based Biped Gait Motion Planning Real-time Gait Planning Extending ZMP 3
Pushing Manipulation by Humanoid Robots Generation of Biped Gait in Realtime According to the Result of Arm Force Control Heavy Object Light Object Harada et al., IEEE/ASME TMECH 07, ICRA 04 4
Lifting up Modification of Waist Position According to the Hand Reaction Force Harada et al. ICRA 05 5
Enhancing Humanoid Robot s Mobility 計測フロンティア研究部門 Stable Motion including Hand Contact os Waling with Pushing Supporting its Weight using Hands Stabile Gait Based on ZMP (Zero Moment Point) Climbing up a Big Gap with Grasping Hand Rail 6
Extension of ZMP Theory to Manipulation Tasks Y ~ p G ( =~ p G ) X Z Definition of Stability using 3D Convex Polyhedron Harada et al., IEEE TRO 06, ISER 06 7
Stability of Humanoid Robot Considering the Grasping Force 計測フロンティア研究部門 m f H2 z H Strong Grasping Force Stable 8 Harada et al., IROS 04
Mobility ~Contact Wrench Sum (CWS) 計測フロンティア研究部門 Hirukawa et al. ICRA 07 Contact Wrench Sum (CWS) (Gravity and Inertia Wrench) p G : Center of mass L : Angular momentum around COG Contact Wrench Cone (CWC) 9 Polyhedral Convex Cone
Motion Planning for Humanoid Robots Whole Body Motion Planning Grasp Planning Gait Planning 10
Whole-body Motion Planning + Dynamic Walking Pattern Generator Harda et al. IEEE/ASME TMECH 10,IROS 07 11 国立研究開発法人
Simultaneous Foot-Place/Upper-Body Motion Planning Searching Process Using Real-time walking pattern generator for offline kinodynamic motion planning 12
Motion Planning for Humanoid Robots Whole Body Motion Planning Grasp Planning Gait Planning 13
Several Regrasping Styles by a Dual-Arm Manipulator Right Pick - Right Place Right Pick - Regrasp - Left Place Right Pick - Right Place - Left Pick - Left Place Right Pick - Right Place - Right Pick - Right Place Etc.. 14 Harada et al. (ICRA 12)
Configuration Space for Dual-Arm Manipulator 計測フロンティア研究部門 CS = CS r x CS l x CS o CP Harada et al. ICRA 14 q i q f CG r CG l 15
Basic Structure Initial Grasp (Right) Intermediate place (Grasped by right) CS = CS r x CS l x CS o CP 計測フロンティア研究部門 Initial Grasp (Left) Intermediate place (Grasped by left) Target place (Grasped by right) Target place (Grasped by left) CG R CG L Bimanual grasp 16
Manipulation Graph 計測フロンティア研究部門 Harada et al. ICRA 14 17
Harada et al. ICRA 14 Place Object on Table Regrasp between Right and Left Regrasp between Right and Left 20
Implementation of Dual-arm Manipulation Randomized Bin-picking with Regrasp 計測フロンティア研究部門 Use of Parallel Computation for IK Calculation 国立研究開発法人産業技術総合研究所知能システム研究部門 21 Harada et al. IEEE SII 14
Development and Comparing Single-arm and Dual-arm Regrasps 22 Wan and Harada, Submitted for RA-L
The regrasp graph for single-arm regrasp Grasp planning component Placement planning component Regrasp graph component 23 23
The regrasp graph for dual-arm regrasp Grasp planning component Handover planning component Regrasp graph component 24 24
Searching and updating the regrasp graph 25 25
Compare Single-arm and Dual-arm reorientation 26 26
Base Position Planning for Dual-arm Mobile Manipulators Performing a Sequence of Pick-and-place Tasks Collect multiple objects from using Dual-arm manipulator Determine a sequence of the base position Selective Use of Two Hands Dual-arm Mobile Manipulator Performing Parts-Supply Task Can Reduce the Number of Sequence 27 Harada et al., Humanoids 2015
28 計測フロンティア研究部門
Assembly Planning of Elastic Parts 計測フロンティア研究部門 (Ramirez-Alpizar, Harada, and Yoshida, Humanoids 14) Assembly of Elastic O-ring to Cylindrical Part Use of Optimization Based Motion Planner (CHOMP Planner) Consideration of Elastic Energy Term to the Index Function オイルシール Assembled Elastic Part Grasping Point 国立研究開発法人産業技術総合研究所知能システム研究部門 29 CHOMP Planner Index Function:Collision Avoidance Smoothness Elastic Potential Energy 国立研究開発法人
Conclusions This talk introduced the whole body manipulation and the dual-arm manipulation by humanoid robots 30