A Mid-level Planning System for Object Reorientation

TL;DR

This paper introduces a versatile mid-level planning system for object reorientation that integrates grasping, placement, and regrasp sequencing, adaptable to various low-level and high-level planners, demonstrated through simulations and real-robot tests.

Contribution

It presents a novel, modular mid-level planning framework that bridges low-level motion planning and high-level symbolic planning for object reorientation tasks.

Findings

Successfully reorients objects in simulation and real-world experiments.

Demonstrates compatibility with different low-level motion planners.

Shows effectiveness in complex reorientation sequences.

Abstract

This paper presents a mid-level planning system for object reorientation. It includes a grasp planner, a placement planner, and a regrasp sequence solver. Given the initial and goal poses of an object, the mid-level planning system finds a sequence of hand configurations that reorient the object from the initial to the goal. This mid-level planning system is open to low-level motion planning algorithm by providing two end-effector poses as the input. It is also open to high-level symbolic planners by providing interface functions like placing an object to a given position at a given rotation. The planning system is demonstrated with several simulation examples and real-robot executions using a Kawada Hiro robot and Robotiq 85 grippers.