Rearranging similar objects with a manipulator using pebble graphs

Athanasios Krontiris, Rahul Shome, Andrew Dobson, Andrew Kimmel, Kostas Bekris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work proposes a method for efficiently computing manipulation paths to rearrange similar objects in a cluttered space. Rearrangement is a challenging problem as it involves combinatorially large, continuous configuration spaces due to the presence of multiple bodies and kinematically complex manipulators. This work leverages ideas from multi-robot motion planning and manipulation planning to propose appropriate graphical representations for this challenge. These representations allow to quickly reason whether manipulation paths allow the transition between entire sets of object arrangements without having to explicitly store these arrangements. The proposed method also takes advantage of precomputation given a manipulation roadmap for transferring a single object in the space. The approach is evaluated in simulation for a realistic model of a Baxter robot and executed on the real system, showing that the method solves complex instances and is promising in terms of scalability and success ratio.

Original languageEnglish (US)
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PublisherIEEE Computer Society
Pages1081-1087
Number of pages7
ISBN (Electronic)9781479971749
DOIs
StatePublished - Feb 12 2015
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: Nov 18 2014Nov 20 2014

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2015-February
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
CountrySpain
CityMadrid
Period11/18/1411/20/14

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

Cite this

Krontiris, A., Shome, R., Dobson, A., Kimmel, A., & Bekris, K. (2015). Rearranging similar objects with a manipulator using pebble graphs. In 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 (pp. 1081-1087). [7041499] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-February). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2014.7041499