A new taxonomy of robotic Regrasp Planning approaches and methods

摘要

In robotic manipulation, regrasping occurs when a robot's hand or gripper needs to change the orientation or gripping positions of an object successively until the desired configuration is reached. Planning of such movements is called Regrasp Planning, which is a challenging problem and has attracted the attention of many roboticists. After thoroughly studying the related literature and identifying major approaches and methods of regrasp planning, a new taxonomy was constructed that is presented in this paper. The novelty of the proposed taxonomy is in classifying a vast number of related researches into seven major approaches, each containing several specific methods, twenty in total. The taxonomy presents the whole literature in a unified hierarchy and provides brief descriptions for each approach and method in a way that researchers can use it to recognize existing strengths and gaps of the field and to conduct their own studies toward new directions.