TR056: Experiments in Dual-Arm Manipulation Planning

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Abstract/Contents

Abstract: This paper describes research conducted under the CIFE seed project Cooperative Manipulation of Pipes in Construction Tasks. The topic of this project is the investigation of integrated robot motion planning and control methods for manipulating long and heavy objects, such as pipes in a construction site environment. Our research focuses on coordinated manipulation using two manipulators, or more. Its ultimate goal is to make heavy material handling more cost-effective and safer. The rationale of our approach is that using multiple manipulators potentially provides more flexibility while reducing the cost of the manipulators. On the other hand, it makes the task of operating and coordinating these robots more difficult, but automatic motion planning can solve this difficulty.

Type of resource	text
Date created	October 1991

Author	Koga, Yoshihito
Author	Latombe, Jean-Claude

Subject	CIFE
Subject	Center for Integrated Facility Engineering
Subject	Stanford University
Subject	Motion Planning
Subject	Multiple Cooperative Manipulation
Subject	Planning Technologies
Genre	Technical report

Location	https://purl.stanford.edu/sf445sz1381

Use and reproduction: User agrees that, where applicable, content will not be used to identify or to otherwise infringe the privacy or confidentiality rights of individuals. Content distributed via the Stanford Digital Repository may be subject to additional license and use restrictions applied by the depositor.

Preferred Citation: Koga, Yoshihito and Latombe, Jean-Claude. (1991). TR056: Experiments in Dual-Arm Manipulation Planning. Stanford Digital Repository. Available at: http://purl.stanford.edu/sf445sz1381

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