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arXiv · 1608.03140

A Mid-level Planning System for Object Reorientation

Weiwei Wan·Hisashi Igawa·Kensuke Harada·Zepei Wu·Hiromu Onda·Kazuyuki Nagata·Natsuki Yamanobe
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Abstract

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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Weiwei Wan, Hisashi Igawa, Kensuke Harada, Zepei Wu, Hiromu Onda, Kazuyuki Nagata, Natsuki Yamanobe. 2016-08-10. A Mid-level Planning System for Object Reorientation. https://arxiv.org/abs/1608.03140

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