2015/12/15 by Chao Cao, Cao, Chao, Weiwei Wan +5
Computer Science · Engineering · #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Robotics (cs.RO) #cs.RO
paper · pdf · doi:10.48550/arxiv.1512.04891
14 pages, 20 figures
openalex publication_date 2015/12/15 · arxiv created 2015/12/22 · arxiv updated 2015/12/23 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Pick-and-place regrasp is an important manipulation skill for a robot. It helps a robot accomplish tasks that cannot be achieved within a single grasp, due to constraints such as kinematics or collisions between the robot and the environment. Previous work on pick-and-place regrasp only leveraged flat surfaces for intermediate placements, and thus is limited in the capability to reorient an object. In this paper, we extend the reorientation capability of a pick-and-place regrasp by adding a vertical pin on the working surface and using it as the intermediate location for regrasping. In particular, our method automatically computes the stable placements of an object leaning against a vertical pin, finds several force-closure grasps, generates a graph of regrasp actions, and searches for the regrasp sequence. To compare the regrasping performance with and without using pins, we evaluate the success rate and the length of regrasp sequences while performing tasks on various models. Experiments on reorientation and assembly tasks validate the benefit of using support pins for regrasping.