Dual-arm Manipulation Planning

計測フロンティア研究部門
Dual-arm Manipulation Planning
Kensuke Harada, Weiwei Wan and Ixchel G. Ramiez-Alpizar
Manipulation Research Group
National Institute of Advanced Industrial Science and Technology
(AIST)
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計測フロンティア研究部門
Today’s Talk
• Whole Body Manipulation
• Dual-arm Manipulation Planning (Recent Work)
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計測フロンティア研究部門
Whole Body Manipulation by Humanoid Robots
Enhancing its Mobility
Performing Tasks
Utilization of Hand Reaction Force
Pushing
Lifting up
Motion Planning
Real-time Gait Planning
Extending ZMP
ZMP Based Biped Gait
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計測フロンティア研究部門
Pushing Manipulation by Humanoid Robots
Generation of Biped Gait in Realtime According to the Result of
Arm Force Control
Heavy Object
Light Object
Harada et al., IEEE/ASME TMECH ’07, ICRA’04
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Lifting up
Modification of Waist Position According
to the Hand Reaction Force
Harada et al. ICRA ’05
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Enhancing Humanoid Robot’s Mobility
Stable Motion including Hand Contact
os
Waling with Pushing
Supporting its Weight
using Hands
Stabile Gait Based
on ZMP (Zero
Moment Point)
Climbing up a Big Gap with Grasping Hand Rail
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Extension of ZMP Theory to Manipulation Tasks
Y
X
~
~p
p
G (= G)
Z
Definition of Stability using 3D Convex Polyhedron
Harada et al., IEEE TRO ’06, ISER ’06
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Stability of Humanoid Robot
Considering the Grasping Force
m
fH2
zH
Strong Grasping Force
Stable
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Harada et al., IROS ’04
計測フロンティア研究部門
Mobility ～Contact Wrench Sum (CWS)
Hirukawa et al. ICRA ‘07
Contact Wrench Sum (CWS)
(Gravity and Inertia Wrench)
p G : Center of mass
L
: Angular momentum around COG
Contact Wrench Cone (CWC)
⇒ Polyhedral Convex Cone
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計測フロンティア研究部門
Motion Planning for Humanoid Robots
Whole Body
Motion Planning
Grasp Planning
Gait Planning
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計測フロンティア研究部門
Whole-body Motion Planning
+
Dynamic Walking Pattern Generator
Harda et al. IEEE/ASME TMECH ’10，IROS ’07
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国立研究開発法人
計測フロンティア研究部門
Simultaneous Foot-Place/Upper-Body Motion Planning
Searching Process
• Using Real-time walking
pattern generator for offline
kinodynamic motion
planning
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計測フロンティア研究部門
Motion Planning for Humanoid Robots
Whole Body
Motion Planning
Grasp Planning
Gait Planning
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Several Regrasping Styles by a Dual-Arm Manipulator
・Right Pick
・Right Pick
・Right Pick
・Right Pick
Etc..
-
Right Place
Regrasp - Left Place
Right Place - Left Pick - Left Place
Right Place - Right Pick - Right Place
Harada et al. (ICRA ‘12)
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Configuration Space for Dual-Arm Manipulator
CS = CSrｘ CSl ｘ CSo
Harada et al. ICRA ’14
CP
qf
qi
CGr
CGl
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Basic Structure
CS = CSrｘ CSl ｘ CSo
CP
Initial Grasp (Right)
Initial Grasp (Left)
Intermediate place
(Grasped by right)
Intermediate place
(Grasped by left)
Target place
(Grasped by left)
Target place
(Grasped by right)
CGR
CGL
Bimanual grasp
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Harada et al. ICRA ’14
Manipulation Graph
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計測フロンティア研究部門
Harada et al. ICRA ’14
Regrasp between Right and Left
Place Object on Table
Regrasp between Right and Left
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Implementation of Dual-arm Manipulation
Randomized Bin-picking with Regrasp
• Use of Parallel Computation for IK Calculation
Harada et al. IEEE SII ’14
国立研究開発法人 産業技術総合研究所
知能システム研究部門
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計測フロンティア研究部門
Development and Comparing
Single-arm and Dual-arm Regrasps
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Wan and Harada, Submitted for RA-L
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The regrasp graph for single-arm regrasp
Grasp planning
component
Placement planning
component
Regrasp graph
component
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The regrasp graph for dual-arm regrasp
Grasp planning
component
Handover planning
component
Regrasp graph
component
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Searching and updating the regrasp graph
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Compare Single-arm and Dual-arm
reorientation
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計測フロンティア研究部門
Base Position Planning for Dual-arm Mobile Manipulators
Performing a Sequence of Pick-and-place Tasks
Collect multiple objects from using
Dual-arm manipulator
Determine a sequence of the base
position
Selective Use of Two Hands
Dual-arm Mobile Manipulator
Performing Parts-Supply Task
Can Reduce the Number of
Sequence
Harada et al., Humanoids 2015
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計測フロンティア研究部門
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計測フロンティア研究部門
Assembly Planning of Elastic Parts
(Ramirez-Alpizar, Harada, and Yoshida, Humanoids ’14)
Assembly of Elastic O-ring to Cylindrical Part
Use of Optimization Based Motion Planner
(CHOMP Planner)
Consideration of Elastic Energy Term to the
Index Function
Grasping
Point
オイルシール
Assembled Elastic Part
CHOMP Planner
Index Function：Collision Avoidance
Smoothness
Elastic Potential Energy
国立研究開発法人 産業技術総合研究所
知能システム研究部門
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国立研究開発法人
計測フロンティア研究部門
Conclusions
• This talk introduced the whole body
manipulation and the dual-arm manipulation
by humanoid robots
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