# A Certified-Complete Bimanual Manipulation Planner

## TL;DR

This paper introduces a certified-complete bimanual manipulation planner that guarantees finding a solution for moving objects with two robot arms, validated through software and hardware tests on furniture.

## Contribution

It presents a novel manipulation planning algorithm that is certified-complete, providing guarantees and a constructive certificate for bimanual manipulation tasks.

## Key findings

- Algorithm is certified-complete for given environments.
- Successfully tested on large furniture pieces.
- Provides quick solutions at run-time using the certificate.

## Abstract

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we propose a manipulation planning algorithm to bring an object from an initial stable placement (position and orientation of the object on the support surface) towards a goal stable placement. The key specificity of our algorithm is that it is certified-complete: for a given object and a given environment, we provide a certificate that the algorithm will find a solution to any bimanual manipulation query in that environment whenever one exists. Moreover, the certificate is constructive: at run-time, it can be used to quickly find a solution to a given query. The algorithm is tested in software and hardware on a number of large pieces of furniture.