Combining motion planning and task planning for a dual-arm system
Tipus de documentText en actes de congrés
Condicions d'accésAccés obert
This paper deals with the problem of combining motion and task assignment for a dual-arm robotic system. Each arm of the system performs independent tasks in a cluttered environment. Robot actions are determined to remove potential obstacles and obtain collision-free paths to grasp the target objects. The approach uses the information provided by the motion planner to build a graph structure in order to represent the obstacles to be removed. The graph is used, first, to decide which is the next motion path to be computed, and, second, to assign the tasks to each arm of the robotic system. The approach has been implemented for a dual-arm robotic system and real experiments are presented in the pape
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
CitacióRodriguez, C., Suarez, R. Combining motion planning and task planning for a dual-arm system. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2016: 2016 IEEE/RSJ International Conference on Inteligent Robots and Systems, September 28-October 9-14, 2016, Daejeon, Korea". Daejeon: 2016, p. 4238-4243.