Dogar, M, Spielberg, A, Baker, S et al. (1 more author) (2015) Multi-Robot Grasp Planning for Sequential Assembly Operations. In: Robotics and Automation (ICRA), 2015 IEEE International Conference on. IEEE. Robotics and Automation, 2015. ICRA 2015. IEEE International Conference on., 26-30 May 2015, Washington, USA. IEEE , pp. 193-200. ISBN 978-1-4799-6923-4
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 naive 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.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2015, IEEE. This is an author produced version of a paper published in Robotics and Automation (ICRA), 2015 IEEE International Conference on. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) > Artificial Intelligence & Biological Systems (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 19 Feb 2016 10:27 |
Last Modified: | 24 Jan 2018 20:07 |
Published Version: | http://dx.doi.org/10.1109/ICRA.2015.7138999 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ICRA.2015.7138999 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:95162 |