The goal of this letter is to develop efficient regrasp algorithms for single-arm and dual-arm regrasp and compares the performance of single-arm and dual-arm regrasp by running the two algorithms thousands of times. We focus on pick-andplace regrasp, which reorients an object from one placement to another by using a sequence of pick-ups and place-downs. After analyzing the simulation results, we find dual-arm regrasp is not necessarily better than single-arm regrasp: dual-arm regrasp is flexible. When the two hands can grasp the object with good clearance, dual-arm regrasp is better and has higher successful rate than single-arm regrasp. When the grasps overlap, dual-arm regrasp is bad. Developers need to sample grasps with high density to reduce overlapping. Following the results, practitioners may choose single-arm or dual-arm robots by considering the object shapes and overlapping of grasps. Or they can run our algorithms and see the statistical results before making decisions.
Wan and Harada REF compare single-arm regrasps with dual-arm regrasps.
Developing and Comparing Single-Arm and Dual-Arm Regrasp
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters
Engineering Computer Science