An ASP-Based Framework for the Manipulation of Articulated Objects Using Dual-Arm Robots

The manipulation of articulated objects plays an important role in real-world robot tasks, both in home and industrial environments. A lot of attention has been devoted to the development of ad hoc approaches and algorithms for generating the sequence of movements the robot has to perform in order to manipulate the object. Such approaches can hardly generalise on different settings, and are usually focused on 2D manipulations. In this paper we introduce a set of PDDL+ formulations for performing automated manipulation of articulated objects in a three-dimensional workspace by a dual-arm robot. Presented formulations differ in terms of how gravity is modelled, considering different trade-offs between modelling accuracy and planning performance, and between human-readability and parsability by planners. Our experimental analysis compares the formulations on a range of domain-independent planners, that aim at generating plans for allowing a dual-arm robot to manipulate articulated objects of different sizes. Validation is performed in simulation on a Baxter robot.

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Automated Planning Encodings for the Manipulation of Articulated Objects in 3D with Gravity

Bertolucci

Capitanelli

Maratea

et al. 2019

Lecture Notes in Computer Science

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Manipulation of Articulated Objects Using Dual-arm Robots via Answer Set Programming

Bertolucci

Capitanelli²,

Dodaro

et al. 2020

Theory and Practice of Logic Programming

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The manipulation of articulated objects is of primary importance in Robotics and can be considered as one of the most complex manipulation tasks. Traditionally, this problem has been tackled by developing ad hoc approaches, which lack flexibility and portability. In this paper, we present a framework based on answer set programming (ASP) for the automated manipulation of articulated objects in a robot control architecture. In particular, ASP is employed for representing the configuration of the articulated object for checking the consistency of such representation in the knowledge base and for generating the sequence of manipulation actions. The framework is exemplified and validated on the Baxter dual-arm manipulator in the first, simple scenario. Then, we extend such scenario to improve the overall setup accuracy and to introduce a few constraints in robot actions execution to enforce their feasibility. The extended scenario entails a high number of possible actions that can be fruitfully combined together. Therefore, we exploit macro actions from automated planning in order to provide more effective plans. We validate the overall framework in the extended scenario, thereby confirming the applicability of ASP also in more realistic Robotics settings and showing the usefulness of macro actions for the robot-based manipulation of articulated objects.

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An ASP-Based Framework for the Manipulation of Articulated Objects Using Dual-Arm Robots

Cited by 2 publications

References 27 publications

Automated Planning Encodings for the Manipulation of Articulated Objects in 3D with Gravity

Automated Planning Encodings for the Manipulation of Articulated Objects in 3D with Gravity

Manipulation of Articulated Objects Using Dual-arm Robots via Answer Set Programming

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