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Fig. 5 | Robotics and Biomimetics

Fig. 5

From: Integrated assembly and motion planning using regrasp graphs

Fig. 5

The flow of the regrasp and motion component. Given the initial and goal states of an object (in this case the Object B in Fig.2), we compute its accessible (collision-free and IK-feasible) initial and goal grasps, and use these grasps together with the grasps associated with the placements of the object on a horizontal surface to build regrasp graphs. These two steps are shown in the upper part of the flowchart. The green segments in the plots denote accessible grasps. The blue ones denote the IK-infeasible grasps. We recursively search the regrasp graphs to find a sequence of grasps and do motion planning repeatedly between the grasps to find a solution to the desired task. The robot configurations in the lower part of the flowchart show as a sequence of grasps obtained by searching the regrasp graph

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