Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping
Robotic manipulation of a bulky object is challenging due to the limited kinematics and payload of the manipulator. In this study, a robot realizes the manipulation of general-shaped bulky objects utilizing the contact with the environment. We propose a hierarchical manipulation planner that effecti...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/19/9103 |
| _version_ | 1827680977083695104 |
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| author | Ang Zhang Keisuke Koyama Weiwei Wan Kensuke Harada |
| author_facet | Ang Zhang Keisuke Koyama Weiwei Wan Kensuke Harada |
| author_sort | Ang Zhang |
| collection | DOAJ |
| description | Robotic manipulation of a bulky object is challenging due to the limited kinematics and payload of the manipulator. In this study, a robot realizes the manipulation of general-shaped bulky objects utilizing the contact with the environment. We propose a hierarchical manipulation planner that effectively combined three manipulation styles, namely, pivoting, tumbling, and regrasping. In our proposed method, we first generate a set of superimposed planar segments on the object surface to obtain an object pose in stable contact with the table, and a set of points on the object surface for the end-effectors (EEFs) of a dual-arm manipulator to stably grasp the object. Object manipulation can be realized by solving a graph, considering the kinematic constraints of pivoting and tumbling. For pivoting, we consider two supporting styles: stable support (SP) and unstable support (USP). Our proposed method manipulates large and heavy objects by selectively using the two different support styles of pivoting and tumbling according to the conditions on the table area. In addition, it can effectively avoid the limitation arising due to the arm kinematics by regrasping the object. We experimentally demonstrate that a dual-arm manipulator can move an object from the initial to goal position within a limited area on the table, avoiding obstacles placed on the table. |
| first_indexed | 2024-03-10T07:05:53Z |
| format | Article |
| id | doaj.art-97de20ab140f40efb49a7bd66bca1c89 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T07:05:53Z |
| publishDate | 2021-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-97de20ab140f40efb49a7bd66bca1c892023-11-22T15:47:57ZengMDPI AGApplied Sciences2076-34172021-09-011119910310.3390/app11199103Manipulation Planning for Large Objects through Pivoting, Tumbling, and RegraspingAng Zhang0Keisuke Koyama1Weiwei Wan2Kensuke Harada3Graduate School of Engineering Science, Osaka University, 1 Machikaneyamacho, Osaka 560-8531, JapanGraduate School of Engineering Science, Osaka University, 1 Machikaneyamacho, Osaka 560-8531, JapanGraduate School of Engineering Science, Osaka University, 1 Machikaneyamacho, Osaka 560-8531, JapanGraduate School of Engineering Science, Osaka University, 1 Machikaneyamacho, Osaka 560-8531, JapanRobotic manipulation of a bulky object is challenging due to the limited kinematics and payload of the manipulator. In this study, a robot realizes the manipulation of general-shaped bulky objects utilizing the contact with the environment. We propose a hierarchical manipulation planner that effectively combined three manipulation styles, namely, pivoting, tumbling, and regrasping. In our proposed method, we first generate a set of superimposed planar segments on the object surface to obtain an object pose in stable contact with the table, and a set of points on the object surface for the end-effectors (EEFs) of a dual-arm manipulator to stably grasp the object. Object manipulation can be realized by solving a graph, considering the kinematic constraints of pivoting and tumbling. For pivoting, we consider two supporting styles: stable support (SP) and unstable support (USP). Our proposed method manipulates large and heavy objects by selectively using the two different support styles of pivoting and tumbling according to the conditions on the table area. In addition, it can effectively avoid the limitation arising due to the arm kinematics by regrasping the object. We experimentally demonstrate that a dual-arm manipulator can move an object from the initial to goal position within a limited area on the table, avoiding obstacles placed on the table.https://www.mdpi.com/2076-3417/11/19/9103non-prehensile manipulationmanipulation planningpivotingrobotics |
| spellingShingle | Ang Zhang Keisuke Koyama Weiwei Wan Kensuke Harada Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping Applied Sciences non-prehensile manipulation manipulation planning pivoting robotics |
| title | Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping |
| title_full | Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping |
| title_fullStr | Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping |
| title_full_unstemmed | Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping |
| title_short | Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping |
| title_sort | manipulation planning for large objects through pivoting tumbling and regrasping |
| topic | non-prehensile manipulation manipulation planning pivoting robotics |
| url | https://www.mdpi.com/2076-3417/11/19/9103 |
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