Motion Planning Method with Pushing Posture Selection for Arranging Office Chairs Using Dual-arm Mobile Robot *

In this study, a motion generation method is proposed to enable a dual-arm mobile manipulator to move a chair to a designated position. This method enables the selection of a robot pose for grasping a chair from candidates. Furthermore, we propose a method for evaluating the appropriateness for two- and one-handed manipulation. After grasping a chair, the robot should transport it to the desired position. Consequently, we develop a motion generation method using quadratic programming optimization. This method calculates the displacement of the robot’s joints for motion while satisfying constraint conditions such as joint limit and obstacle avoidance. Through simulation verification, we confirmed that an upper body humanoid robot can perform a chair arrangement task in three common layouts using our methods.