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) 1
計測フロンティア研究部門 Today’s Talk • Whole Body Manipulation • Dual-arm Manipulation Planning (Recent Work) 2
計測フロンティア研究部門 Whole Body Manipulation by Humanoid Robots Enhancing its Mobility Motion Planning Performing Tasks Real-time Gait Planning Utilization of Hand Reaction Force Pushing Extending ZMP Lifting up ZMP Based Biped Gait 3
計測フロンティア研究部門 Pushing Manipulation by Humanoid Robots Generation of Biped Gait in Real- time According to the Result of Arm Force Control Light Object Heavy Object Harada et al., IEEE/ASME TMECH ’07, ICRA’04 4
計測フロンティア研究部門 Lifting up Modification of Waist Position According to the Hand Reaction Force Harada et al. ICRA ’05 5
Enhancing Humanoid Robot’s Mobility 計測フロンティア研究部門 Stable Motion including Hand Contact os Supporting its Weight Waling with Pushing using Hands Stabile Gait Based on ZMP (Zero Moment Point) Climbing up a Big Gap with Grasping Hand Rail 6
計測フロンティア研究部門 Extension of ZMP Theory to Manipulation Tasks Y ~ ~ p G p G ( ) = Z X Definition of Stability using 3D Convex Polyhedron Harada et al., IEEE TRO ’06, ISER ’06 7
計測フロンティア研究部門 Stability of Humanoid Robot Considering the Grasping Force m f H 2 z H Strong Grasping Force Stable Harada et al., IROS ’04 8
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 9
計測フロンティア研究部門 Motion Planning for Humanoid Robots Whole Body Grasp Planning Motion Planning Gait Planning 10
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 11 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 12
計測フロンティア研究部門 Motion Planning for Humanoid Robots Whole Body Grasp Planning Motion Planning Gait Planning 13
計測フロンティア研究部門 Several Regrasping Styles by a 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) 14
計測フロンティア研究部門 Configuration Space for Dual-Arm Manipulator ｘ ｘ Harada et al. ICRA ’14 CS = CS r CS l CS o CP q f q i CG r CG l 15
計測フロンティア研究部門 Basic Structure ｘ ｘ CS = CS r CS l CS o CP Initial Grasp (Right) Initial Grasp (Left) Intermediate place Intermediate place (Grasped by right) (Grasped by left) Target place Target place (Grasped by left) (Grasped by right) CG R CG L Bimanual grasp 16
計測フロンティア研究部門 Harada et al. ICRA ’14 Manipulation Graph 17
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 20
計測フロンティア研究部門 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 21
計測フロンティア研究部門 Development and Comparing Single-arm and Dual-arm Regrasps Wan and Harada, Submitted for RA-L 22
計測フロンティア研究部門 The he re regr grasp asp gra raph fo ph for sin r singl gle-arm arm reg egras rasp Grasp planning Placement planning Regrasp graph component component component 23 23
計測フロンティア研究部門 The he re regr grasp asp gra raph fo ph for dua r dual-ar arm m reg egra rasp sp Grasp planning Handover planning Regrasp graph component component component 24 24
計測フロンティア研究部門 Sear earch chin ing a g and nd u upda pdati ting ng th the e regra grasp sp g grap raph h 25 25
計測フロンティア研究部門 Compare Single-arm and Dual-arm reorientation 26 26
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 Can Reduce the Number of Performing Parts-Supply Task Sequence Harada et al., Humanoids 2015 27
計測フロンティア研究部門 28
計測フロンティア研究部門 Asse ssembly P Planning g of El Elast stic P 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 Grasping Index Function オイルシール Point 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 29 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 30
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