時間的な物体除去を伴う卓上拭き作業のための双腕協調
Dual-arm Cooperation for Tabletop Wiping with Temporal Object Removal
散らかった卓上を拭くため、一方の腕で物体をどかし他方で拭く協調計画をMILPとLBBDで立案し、KOMOで滑らかな動作を生成する手法を提案。
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著者: Pengqi Zhang, Longchang Yu, Daohan Li, Liang Yan, Hangxin Liu
分類: cs.RO
原文アブストラクト
We devise a dual-arm cooperative planning framework for wiping table surface in the presence of scattered objects. Unlike conventional surface-cleaning strategies that only cover free areas and detour around obstacles, our framework explicitly assigns one arm to rearrange objects while the other performs coverage wiping, thereby enabling access to previously obstructed regions. Specifically, we first construct a set of wiping and object-rearrangement action primitives. Based on these primitives, we introduce Geo-MILP, a geometry-aware task planner formulated as Mixed-Integer Linear Programming (MILP). By integrating Logic-Based Benders Decomposition (LBBD), Geo-MILP iteratively optimizes action sequencingand timing to resolve geometric conflicts, promoting efficient cooperation between wiping and object rearrangement. We then employ K-Order Markov Optimization (KOMO) to generate smooth, collision-free motions to ensure feasible execution. Simulation and physical experiments demonstrate that the proposed framework not only increases reachable coverage by enabling access to obstructed areas, but also significantly improves time efficiency compared to Task and Motion Planning (TAMP) baselines, reducing planning time by up to 9 times and execution makespan by approximately 40%.