Page 198 - Human Inspired Dexterity in Robotic Manipulation

Planning Dexterous Dual-Arm Manipulation 197

(A) (B)

(C)
Fig. 10.8 Solution path in the manipulation graph. (A) Manipulation by using right arm.
(B) Manipulation with regrasping. (C) Manipulation with regrasping/placing.

We also performed real-world experiments. The experimental setup is
shown in Fig. 10.9. In this environment, the robot tries to pick up an object
located in a tray and put it in a box placed on a table. As shown in the figure,
the 3D data of the environment is captured by using a Kinect sensor and
converted into a polyhedral model. The figure also shows the 3D model
of the grasped object.
Fig. 10.10 shows an experimental result of pick and place by using the
right arm. On the other hand, Fig. 10.11 shows an experimental result of
regrasping between the right and left hands. In this experiment, the robot
is ordered to place the object on the box with an upside-down posture.
As the regrasping is needed for this example, the regrasping motion is