Duman, Furkan, Tok, Emin Safa and Hernandez Vega, Juan  ORCID: https://orcid.org/0000-0002-9593-6789
2026.
Lazy evaluation of multi-grasp goals guided by motion planning in pick-and-place object manipulation.
IEEE Access
10.1109/ACCESS.2026.3739509
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Abstract
Pick and place operations are part of the fundamental actions that enable robotic object manipulation in complex environments. Such operations present significant challenges, particularly when determining the grasp affordances of the objects of interest, and especially when calculating the robot motions to grasp such objects. To address these challenges, we propose a robotic manipulation pipeline that integrates grasp planning outputs into motion planning through workspace goal regions (WGRs). Unlike existing approaches that rely on manually predefined WGRs, the proposed method automatically generates WGRs by clustering discrete grasp poses and interpolating them into continuous regions, thus eliminating the need for prior knowledge of object geometries. A sampling-based tree planner then lazily evaluates these regions, deferring the assessment of goal configurations until they are needed during planning, which efficiently solves extended start-to-goal manipulation tasks. Our pipeline significantly increases the rate at which feasible grasp configurations are reached in cluttered environments and substantially reduces planning time, while the grasps executed at those configurations are as reliable as those proposed directly by the grasp planner. We validate the effectiveness of our approach through both simulation and real-robot experiments using the Franka Emika robotic manipulator. Supplementary materials can be found at https://lewgr.github.io/.
| Item Type: | Article |
|---|---|
| Date Type: | Published Online |
| Status: | In Press |
| Schools: | Schools > Computational & Mathematical Sciences Schools > Computer Science & Informatics |
| Publisher: | Institute of Electrical and Electronics Engineers |
| ISSN: | 2169-3536 |
| Date of First Compliant Deposit: | 7 October 2026 |
| Date of Acceptance: | 26 September 2026 |
| Last Modified: | 08 Oct 2026 13:30 |
| URI: | https://orca.cardiff.ac.uk/id/eprint/190078 |
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