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Abstract
This paper presents a regrasp planning component for object reorientation. It includes a grasp planner, a placement planner, and a regrasp sequence solver. Given the initial and goal poses of an object, the regrasp planning component finds a sequence of robot postures and grasp configurations that reorient the object from the initial pose to the goal. The regrasp planning component works as a mid-level connector in the whole planning system for object reorientation. It is open to low-level motion planning algorithms by providing two end-effector poses as the input. It is also open to high-level assembly or symbolic planners by providing pick-and-place predicates. The proposed component is demonstrated with several simulation examples and real-robot executions using a Kawada Hiro robot and Robotiq 85 grippers.
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