The ability to build structures with autonomous robots using only found, minimally processed stones would be immensely useful, especially in remote areas. Assembly planning for dry-stacked structures, however, is difficult since both the state and action spaces are continuous, and stability is strongly affected by complex friction and contact constraints. We propose a planning algorithm for such assemblies that uses a physics simulator to find a small set of feasible poses and then evaluates them using a hierarchical filter. We carefully designed the heuristics for the filters to match our goal of building stable, free-standing walls. These plans are then executed open-loop with a robotic arm equipped with a wrist RGB-D camera. Experimental results show that the proposed planning algorithm can significantly improve the state of the art in robotic dry stacking.


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    Title :

    Planning for Robotic Dry Stacking with Irregular Stones


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:
    Ishigami, Genya (editor) / Yoshida, Kazuya (editor) / Liu, Yifang (author) / Choi, Jiwon (author) / Napp, Nils (author)


    Publication date :

    2021-01-13


    Size :

    15 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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