Multi-Robot Grasp Planning for Sequential Assembly Operations
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dogar2015multigrasp.pdf
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5.07 MB
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Adobe PDF
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Author(s)
Dogar, Mehmet Remzi
Spielberg, Andrew Everett
Baker, Stuart Polak
Rus, Daniela L.
Date Issued
May 2015
Journal
Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Dogar, Mehmet, Andrew Spielberg, Stuart Baker, and Daniella Rus. "Multi-Robot Grasp Planning for Sequential Assembly Operations" in 2015 IEEE International Conference on Robotics and Automation (ICRA), May 26th-30th, 2015, Seattle, Washington.
Version
Author's final manuscript
Abstract
This paper addresses the problem of finding robot configurations to grasp assembly parts during a sequence of collaborative assembly operations. We formulate the search for such configurations as a constraint satisfaction problem (CSP).Collision constraints in an operation and transfer constraints between operations determine the sets of feasible robot configurations. We show that solving the connected constraint graph with off-the-shelf CSP algorithms can quickly become infeasible even for a few sequential assembly operations. We present an algorithm which, through the assumption of feasible regrasps, divides the CSP into independent smaller problems that can be solved exponentially faster. The algorithm then uses local search techniques to improve this solution by removing a gradually increasing number of regrasps from the plan. The algorithm enables the user to stop the planner anytime and use the current best plan if the cost of removing regrasps from the plan exceeds the cost of executing those regrasps. We present simulation experiments to compare our algorithm’s performance to a naïve algorithm which directly solves the connected constraint graph. We also present a real robot system which uses the output of our planner to grasp and bring parts together in assembly configurations.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
http://icra2015.org/conference/awards#!cover
