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200 Human Inspired Dexterity in Robotic Manipulation

styles may be considered, such as single-arm grasping, regrasping from one to
the other hand, regrasping and placing, and bimanual grasping.
Recently, there have been several advancements with the manipulation
motion planner. The following are some examples: Kaelbling et al. [8]
formulated the manipulation motion planner in the belief space. Wan
et al. [9] compared the efficiency of a single-arm regrasp with a dual-arm
handover. The assembly motion planner has been researched by some
researchers [10, 11].

REFERENCES
[1] K. Harada, T. Tsuji, J.P. Laumond, Manipulation motion planner for dual-arm indus-
trial manipulators, in: Proceedings of IEEE International Conference on Robotics and
Automation, 2014.
[2] T. Simeon, J.P. Laumond, J. Cortes, A. Sahbani, Manipulation planning with proba-
bilistic readmaps, Int. J. Robot. Res. 23 (8) (2004) 729–746.
[3] K. Harada, et al., Grasp planning for parallel grippers with flexibility on its grasping
surface, in: Proceedings of IEEE International Conference on Robotics and
Biomimetics, 2011.
[4] K. Harada, et al., Pick and place planning for dual-arm manipulators, in: Proceedings of
IEEE International Conference on Robotics and Automation, 2012, pp. 2281–2286.
[5] K. Harada, et al., Object placement planner for robotic pick and place tasks,
in: Proceedings of IEEE International Conference on Intelligent Robots and Systems,
2012, pp. 980–985.
[6] T. Simeon, J.P. Laumond, C. Nissoux, Visibility-based probabilistic roadmaps for
motion planning, Adv. Robot. 14 (6) (2000) 477–493.
[7] MPK (Motion Planning Kit), Available from: http://robotics.stanford.edu/ mitul/
mpk/.
[8] L.P. Kaelbling, T. Lozano-Perez, Hierarchical task and motion planning in the now,
in: Proceedings of IEEE International Conference on Robotics and Automation, 2011.
[9] W. Wan, K. Harada, Developing and comparing single-arm and dual-arm regrasp,
Robot. Autom. Lett. 1 (1) (2016) 243–250.
[10] M. Dogar, A. Spielberg, S. Baker, D. Rus, Multi-robot grasp planning for sequential
assembly operations, in: Proceedings of IEEE International Conference on Robotics
and Automation, 2015.
[11] W. Wan, K. Harada, Integrated assembly and motion planning using regrasp graphs,
Robot. Biomim. 3 (8) (2016) 3–18.

FURTHER READING
[12] J.P. Laumond, T. Simeon, Notes on visibility roadmaps for motion planning,
algorithmic Foundations of Robotics (WAFR 00), 2001.
[13] C. Smith, et al., Dual arm manipulation—a survey, Robot. Auton. Syst. 60 (2012)
1340–1353.
[14] K. Harada, K. Kaneko, F. Kanehiro, Fast grasp planning for hand/arm systems based on
convex model, in: Proceedings of IEEE International Conference on Robotics and
Automation, 2008, pp. 1162–1168.
[15] T. Tsuji, K. Harada, K. Kaneko, F. Kanehiro, K. Maruyama, Grasp planning for a mul-
tifingered hand with a humanoid robot, J. Robot. Mechatronics 22 (2) (2010) 230–238.