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- W4362653204 abstract "In this letter, we present a planning method considering regrasp and mobility for the manipulation problem of a long deformable object in an industrial scenario. The object is carried through designated rollers by a dual-arm robot in the presence of environmental constraints. The problem is formulated by modeling the deformable object as a set of line segments and categorizing obstacles into different types. A hierarchical 2.5D manipulation planner is proposed, which first plans the ideal path of a deformable object in a 2D plane and obtains its topological representation. Next, dual-arm regrasps are determined by utilizing the deformation models, and collision-free paths are planned to meet topological constraints for the grippers. The feasibility of the proposed method is experimentally validated using a humanoid robot, by integrating the planner with a loco-manipulation planning framework and QP-based whole-body motion controller." @default.
- W4362653204 created "2023-04-07" @default.
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- W4362653204 date "2023-05-01" @default.
- W4362653204 modified "2023-09-30" @default.
- W4362653204 title "Dual-Arm Mobile Manipulation Planning of a Long Deformable Object in Industrial Installation" @default.
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- W4362653204 doi "https://doi.org/10.1109/lra.2023.3264779" @default.
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