In this paper, we propose a general manipulation planner for dual-arm industrial manipulators. According to the context, the planner automatically determines whether both arms have to be used simultaneously or not. The approach is based on (i) the extension of an object placement algorithm previously developed, and (ii) the introduction of several types of re-grasping motions dedicated to dual-arm manipulators. Such motions induce a special topological structure in the manipulation space that can be captured into a manipulation graph. The graph is then used to solve the manipulation problem by a simple graph search algorithm. After searching for a solution path, we further consider optimizing the path by minimizing the number of re-grasps. The effectiveness of the approach is demonstrated on the dual-arm manipulator HiroNX working in a realistic factory environment.

1. A Manipulation Motion Planner
for
Dual-Arm Industrial Manipulators
Kensuke Harada*, Tokuo Tsuji**
And
Jean-Paul Laumond***
*National Inst. Advanced Industrial Science and Technology
**Kyushu Univ.
***LAAS-CNRS

2. Pick and Place by using 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..
Harada et al. (ICRA ‘12)
This Research :
General Framework
on Pick-and-Place Motion Planner
for Dual-Arm Manipulators

3. Our Proposed Manipulation Planner
• Stable Grasping Posture (Harada et al. ‘11)
• Stable Object Placing Posture (Harada et al. ‘12)
Manipulation Planner for Dual-Arm Manipulators
Several Styles of Pick-and-Place motion :
Right Pick – Right Place, Right Pick – Regrasp – Left Place, etc
can be realized according to the context of task.
Pick and Place including Intermediate Object Place
• Extension of Manipulation Planner for Single Arm Manipulator
(Simeon et al. ‘04)
• Regrasping Motion Plan

4. CSoｘCSr CSlｘ
CP
CGl
CGr
CS =
qi
qf
Configuration Space for Dual-Arm Manipulator

5. CP
CGL
CGR
Basic Structure
Initial Grasp (Left)
Intermediate place
(Grasped by left)
Target place
(Grasped by left)
Initial Grasp (Right)
Intermediate place
(Grasped by right)
Target place
(Grasped by right)
Bimanual grasp
CSoｘCSr CSlｘCS =

6. Initial Grasp
Multiple Stable Grasping Poses
Intermediate Place
Target Place
Stable Grasping Poses
Stable Object Poses
Using Visibility-PRM
(Simeon et al. ‘00)
Stable Grasping Poses
Stable Object Poses at Target Position
Bimanual Grasp
Stable Bi-Manual Grasp

7. Manipulation Graph

8. Manipulation Graph Search
• Each component is connected with edges.
• Each edge is constructed by using a random sampling based
planner (Motion Planning Kit)
• Intermediate Object Posture is composed of a graph
constructed by using Visibility-PRM.
• Motion will change in accordance with the order of edge
construction

9. Place Object on Table
Regrasp by using Right
Hand Regrasp bw Right and Left
Place Object on Table
Regrasp bw Right and Left

10. Examples 1
Place Object on Table
Regrasp bw Right and Left

11. Examples 2
Regrasp bw Right and Left

12. Examples 3
Place Object on Table
Regrasp by using
Right Hand

13. Conclusions
Manipulation Planner for Dual-Arm Manipulators
Several Styles of Pick-and-Place motion :
Right Pick – Right Place, Right Pick – Regrasp – Left Place, etc
can be realized according to the context of task.
Future Work
・Reduction of Calculation Cost
・Strategy Optimization

14. おわりに
双腕ロボットに対するマニピュレーション計画
ピックアンドプレース・左右の手での持ち替え・テーブル
に対象物を置く持ち替え等がシームレスに切り替える
対象物配置計画を用い、一旦環境に対象物を置いた上での持ち替えを実現

15. Previous Works
Grasp Planner：Borst et al.(‘99), Miller et al.(‘03),
Harada et al.(‘08), Przybylski et al.(‘11) etc.
Manipulation Planner：Koga and Latombe(‘94), Nielson and Kavraki(‘00),
Simeon et al.(‘04), Berenson et al.(’09) etc.
Object Place Planner (Plan object pose placed on environment)：
OpenRAVE(Physical Simulation Based Method)
Harada et al.(‘12) (Geometrical Static Approach)
Harada et al. (‘12)

16. Object Placement Planner Harada et al.(’12)
Clustering polygon
models of
object/environment
For contact between two clusters,
Convexity Test
Inclusion Test
Stability Test