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arXiv · 2110.11652

Action Planning for Packing Long Linear Elastic Objects into Compact Boxes with Bimanual Robotic Manipulation

Wanyu Ma·Bin Zhang·Lijun Han·Shengzeng Huo·Hesheng Wang·David Navarro-Alarcon
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Abstract

In this paper, we propose a new action planning approach to automatically pack long linear elastic objects into common-size boxes with a bimanual robotic system. For that, we developed a hybrid geometric model to handle large-scale occlusions combining an online vision-based method and an offline reference template. Then, a reference point generator is introduced to automatically plan the reference poses for the predesigned action primitives. Finally, an action planner integrates these components enabling the execution of high-level behaviors and the accomplishment of packing manipulation tasks. To validate the proposed approach, we conducted a detailed experimental study with multiple types and lengths of objects and packing boxes.

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Wanyu Ma, Bin Zhang, Lijun Han, Shengzeng Huo, Hesheng Wang, David Navarro-Alarcon. 2021-10-22. Action Planning for Packing Long Linear Elastic Objects into Compact Boxes with Bimanual Robotic Manipulation. https://arxiv.org/abs/2110.11652

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