抄録
This paper proposes a method for lifting up a big object by a dual-arm manipulator. To lift up an object, the robot first rolls an object on a table. To plan the rolling motion of an object, we consider classifying the facet of the convex hull into three categories. Based on the classification, the rolling motion can be planned by searching for the facet graph where it shows the connectivity information of each facet of the convex hull. We also show a method for grasp planning of a big object by using a dual-arm manipulator. The effectiveness of the proposed method is confirmed by using a numerical example.
