Object Reconfiguration with Dextrous Robot Agents
Gábor Vass*, Béla Lantos*, and Shahram Payandeh**
*Department of Control Engineering and Information Technology, Budapest University of Technology and Economics, H-1117 Magyar Tudosok krt. 2, Budapest, Hungary
**Experimental Robotics Laboratory, School of Engineering Science, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia, Canada V5A 1S6
This paper addresses an object manipulation planning algorithm for dextrous robot systems consisting a multifingered hand and a robotic manipulator. A method has been developed for object reconfiguration design. The result is a new algorithm using artificial intelligence based on simulated annealing and A* search. The upper level of the manipulation system, the global planner generates the motion of the object. The lower level, the local planner deals with the motion of the agents relative to the object and the design of the contact forces. The local planner is based on simulated annealing, thus the the local minima can be avoided in the energy function of the motion with high probability. Application of the algorithm has been discussed for three robot arms.
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