Grasp/Motion Planning for Efficient Packing Tasks Assuming Multiple Grippers

Abstract

This paper proposes a method to automatically plan the motion of a robot that packs many kinds of objects into a box, assuming multiple grippers and considering whether the grippers can actually grasp and pack the objects into a box. An initial solution was created by using a GA like algorithm taking multiple grippers into account, and the optimal position of each object was determined by repeatedly improving the solution. Then, the packing motion planning was executed for each object. The effectiveness of the proposed method was confirmed by experiments.