Developing and Comparing Single-Arm and Dual-Arm Regrasp

The goal of this letter is to develop efficient regrasp algorithms for single-arm and dual-arm regrasp and compares the performance of single-arm and dual-arm regrasp by running the two algorithms thousands of times. We focus on pick-and-place regrasp, which reorients an object from one placement to another by using a sequence of pick-ups and place-downs. After analyzing the simulation results, we find dual-arm regrasp is not necessarily better than single-arm regrasp: dual-arm regrasp is flexible. When the two hands can grasp the object with good clearance, dual-arm regrasp is better and has higher successful rate than single-arm regrasp. When the grasps overlap, dual-arm regrasp is bad. Developers need to sample grasps with high density to reduce overlapping. Following the results, practitioners may choose single-arm or dual-arm robots by considering the object shapes and overlapping of grasps. Or they can run our algorithms and see the statistical results before making decisions.