论文标题
计划使用双臂机器人建造SOMA块
Planning to Build Soma Blocks Using a Dual-arm Robot
论文作者
论文摘要
本文提出了一个可以自动找到双臂机器人组装SOMA块的最佳组装序列的计划者。计划者使用对象的网格模型和组件的最终状态来生成所有可能的装配序列，并通过考虑稳定性，抓地力，装配性以及对第二臂的需求来评估最佳组装序列。尤其是，当工作表和其他工件的支撑不足以产生稳定的组件时，考虑了第二臂的需求。策划者将提到辅助掌握，以额外保留并支持不稳定的组件，以便机器人可以进一步组装新的工件并最终达到稳定的状态。规划师的输出是最佳组装订单，候选graSps，组装指示和辅助抓手（如果有）。计划器的输出可用于指导双臂机器人执行组装任务。在模拟和现实世界执行中验证了计划者。
This paper presents a planner that can automatically find an optimal assembly sequence for a dual-arm robot to assemble the soma blocks. The planner uses the mesh model of objects and the final state of the assembly to generate all possible assembly sequence and evaluate the optimal assembly sequence by considering the stability, graspability, assemblability, as well as the need for a second arm. Especially, the need for a second arm is considered when supports from worktables and other workpieces are not enough to produce a stable assembly. The planner will refer to an assisting grasp to additionally hold and support the unstable components so that the robot can further assemble new workpieces and finally reach a stable state. The output of the planner is the optimal assembly orders, candidate grasps, assembly directions, and the assisting grasps if any. The output of the planner can be used to guide a dual-arm robot to perform the assembly task. The planner is verified in both simulations and real-world executions.
