TY - GEN
T1 - Milp-based dual-arm motion planning considering shared transfer path for pick-up and place
AU - Kurosu, Jun
AU - Yorozu, Ayanori
AU - Takahashi, Masaki
N1 - Funding Information:
Acknowledgment. This study was supported by “A Framework PRINTEPS to Develop Practical Artificial Intelligence” of the Core Research for Evolutional Science and Technology (CREST) of the Japan Science and Technology Agency (JST) under Grant Number JPMJCR14E3.
Publisher Copyright:
© 2019, Springer Nature Switzerland AG.
PY - 2019
Y1 - 2019
N2 - One of the most basic tasks that a dual-arm robot does is pick-up and place work. Pick-up and place work consists of tasks in which the robot carries objects from a start position (initial position) to a goal position. The following three important points should also be considered when the dual-arm robot does this work efficiently: (1) collision avoidance of the arms, (2) which arm should move an object, and (3) the order in which the objects should be picked up and placed. In addition, dual-arm robot has operation range constraints. Depending on the position relationship between a start position and goal position, unless both arms are used, the object may not be transferred to a goal position. In this paper, we define the transfer path which must use both arms as “shared transfer path”. First, we use mixed integer linear programming (MILP) based planning for the pick-up and place work to determine which arm should move an object and in which order these objects should be moved while considering the dual-arm robot’s operation range. Second, we plan the path using the rapidly exploring random tree (RRT) so that the arms do not collide, enabling the robot to perform efficient pick-up and place work based on the MILP planning solution. The effectiveness of proposed method is confirmed by simulations and experiments using the HIRO dual-arm robot.
AB - One of the most basic tasks that a dual-arm robot does is pick-up and place work. Pick-up and place work consists of tasks in which the robot carries objects from a start position (initial position) to a goal position. The following three important points should also be considered when the dual-arm robot does this work efficiently: (1) collision avoidance of the arms, (2) which arm should move an object, and (3) the order in which the objects should be picked up and placed. In addition, dual-arm robot has operation range constraints. Depending on the position relationship between a start position and goal position, unless both arms are used, the object may not be transferred to a goal position. In this paper, we define the transfer path which must use both arms as “shared transfer path”. First, we use mixed integer linear programming (MILP) based planning for the pick-up and place work to determine which arm should move an object and in which order these objects should be moved while considering the dual-arm robot’s operation range. Second, we plan the path using the rapidly exploring random tree (RRT) so that the arms do not collide, enabling the robot to perform efficient pick-up and place work based on the MILP planning solution. The effectiveness of proposed method is confirmed by simulations and experiments using the HIRO dual-arm robot.
KW - Advanced motion planning
KW - Manipulator
KW - Mixed integer linear programming
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U2 - 10.1007/978-3-030-01370-7_6
DO - 10.1007/978-3-030-01370-7_6
M3 - Conference contribution
AN - SCOPUS:85059884480
SN - 9783030013691
T3 - Advances in Intelligent Systems and Computing
SP - 67
EP - 77
BT - Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
A2 - Dillmann, Rüdiger
A2 - Menegatti, Emanuele
A2 - Ghidoni, Stefano
A2 - Strand, Marcus
PB - Springer Verlag
T2 - 15th International Conference on Intelligent Autonomous Systems, IAS 2018
Y2 - 11 June 2018 through 15 June 2018
ER -