Title: Regrasp Planning Considering Bipedal Stability Constraints,
Abstract: This paper presents a Center of Mass (CoM) based manipulation and regrasp
planner that implements stability constraints to preserve the robot balance.
The planner provides a graph of IK-feasible, collision-free and stable motion
sequences, constructed using an energy based motion planning algorithm. It
assures that the assembly motions are stable and prevent the robot from falling
while performing dexterous tasks in different situations. Furthermore, the
constraints are also used to perform an RRT-inspired task-related stability
estimation in several simulations. The estimation can be used to select between
single-arm and dual-arm regrasping configurations to achieve more stability and
robustness for a given manipulation task. To validate the planner and the
task-related stability estimations, several tests are performed in simulations
and real-world experiments involving the HRP5P humanoid robot, the 5th
generation of the HRP robot family. The experiment results suggest that the
planner and the task-related stability estimation provide robust behavior for
the humanoid robot while performing regrasp tasks.