Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems

摘要

Closed kinematic chains are created whenever multiple robot arms concurrentlymanipulate a single object. The closed-chain constraint, when coupled withrobot joint limits, dramatically changes the connectivity of the configurationspace. We propose a regrasping move, termed "IK-switch", which allowsefficiently bridging components of the configuration space that are otherwisemutually disconnected. This move, combined with several other developments,such as a method to stabilize the manipulated object using the environment, anew tree structure, and a compliant control scheme, enables us to addresscomplex closed-chain manipulation tasks, such as flipping a chair frame, whichis otherwise impossible to realize using existing multi-arm planning methods.