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In this paper, we propose a new action planning approach to automaticallypack long linear elastic objects into common-size boxes with a bimanual roboticsystem. For that, we developed a hybrid geometric model to handle large-scaleocclusions combining an online vision-based method and an offline referencetemplate. Then, a reference point generator is introduced to automatically planthe reference poses for the predesigned action primitives. Finally, an actionplanner integrates these components enabling the execution of high-levelbehaviors and the accomplishment of packing manipulation tasks. To validate theproposed approach, we conducted a detailed experimental study with multipletypes and lengths of objects and packing boxes.

Action Planning for Packing Long Linear Elastic Objects into Compact Boxes with Bimanual Robotic Manipulation