Efficient Task/Motion Planning for a Dual-arm Robot from Language Instructions and Cooking Images

Takata, Kota; Kiyokawa, Takuya; Ramirez-Alpizar, Ixchel G.; Yamanobe, Natsuki; Wan, Weiwei; Harada, Kensuke

doi:10.36227/techrxiv.21340236.v1

2022

DOI: 10.36227/techrxiv.21340236.v1

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Efficient Task/Motion Planning for a Dual-arm Robot from Language Instructions and Cooking Images

Kota Takata¹,

Takuya Kiyokawa²,

Ixchel G. Ramirez-Alpizar³

et al.

Abstract: <p>To be presented at IROS 2022. </p>

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Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe

et al. 2022

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It is difficult to effectively operate a dual-arm robot using only the information written in a cooking recipe. To cope with this problem, this paper proposes a graph-based approach on bimanual cooking motion planning from a cooking recipe. In our approach, we first decompose the cooking recipe into graph elements. Then, we try to connect the graph elements taking into account the attributes of the input/output nodes. If two graph elements cannot be connected to each other, we search for a graph element that can be inserted between them from a motion database. Since the constructed graph includes the whole sequence of the robot’s motions to perform the cooking task, we can generate a task sequence of a dual-arm manipulator simultaneously performing two different tasks by using two arms. Through experimental study, we show that it is possible to generate robot motions from a cooking recipe and perform the cooking motions while simultaneously moving the left and right arms.

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Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe

et al. 2022

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Efficient Task/Motion Planning for a Dual-arm Robot from Language Instructions and Cooking Images

Abstract: <p>To be presented at IROS 2022. </p>

Cited by 1 publication

References 23 publications

Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe

Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe

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