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Regrasp planning for pivoting manipulation by a humanoid robot

Eiichi Yoshida 1 Mathieu Poirier 2 Jean-Paul Laumond 2 Oussama Kanoun 2 Florent Lamiraux 2 Rachid Alami 3 Yokoi Kazuhito 1 
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
3 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : A method of regrasp planning for humanoid robot manipulation is proposed. We adopt pivoting manipulation for the humanoid robot to move a bulky object without lifting in a stable and dexterous manner. In order to carry the object to a desired place, the humanoid should sometimes move through narrow areas surrounded by obstacles. We propose a roadmap multiplexing planning to allow the robot to leave the object near narrow places and to regrasp it from another position to continue carrying. We utilize visibility probabilistic roadmap (PRM) method as a preprocessing to capture the critical configurations for regrasping. Then a diffusion method is employed to plan the overall manipulation path including regrasping. The proposed method is verified through planning simulation including whole-body motions.
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https://hal.laas.fr/hal-01976059
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Eiichi Yoshida, Mathieu Poirier, Jean-Paul Laumond, Oussama Kanoun, Florent Lamiraux, et al.. Regrasp planning for pivoting manipulation by a humanoid robot. 2009 IEEE International Conference on Robotics and Automation, May 2009, Kobe, Japan. ⟨hal-01976059⟩

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