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CHAPTER 10

Planning Dexterous Dual-Arm

Manipulation

Kensuke Harada
Graduate School of Engineering Science, Osaka University, Toyonaka, Japan

Contents
10.1 Introduction 187
10.2 Definitions 188
10.2.1 Notation 188
10.2.2 Grasp Planner 188
10.2.3 Object Placement Planner 189
10.2.4 Manipulation Paths 189
10.3 Manipulation Planner 191
10.3.1 Graph Structure 191
10.3.2 Graph Components 191
10.3.3 Component Connection 193
10.3.4 Path Optimization 194
10.4 Examples 194
10.5 Conclusions 199
References 200
Further Reading 200

10.1 INTRODUCTION

Object manipulation is one of the most typical tasks required for a robot
manipulator to realize. However, it is still difficult for a robot manipulator
to automatically generate the motion of object manipulation, especially
when the manipulation task has to be performed in a highly cluttered envi-
ronment. So as to assemble the object with an adequate grasping posture, the
robot has to once regrasp the object. When regrasping the object, both hands
are used simultaneously or not according to the context, whereas the objec-
tive is to minimize the amount of regrasping.
Dual-arm manipulators allow several types of regrasping such as
(1) regrasping between the right and left hands, (2) once placing an object

Human Inspired Dexterity in Robotic Manipulation © 2018 Elsevier Inc.
https://doi.org/10.1016/B978-0-12-813385-9.00010-8 All rights reserved. 187