  This paper proposes a combined task and motion planner for a dual-arm robot
to use a suction cup tool. The planner consists of three sub-planners -- A
suction pose sub-planner and two regrasp and motion sub-planners. The suction
pose sub-planner finds all the available poses for a suction cup tool to suck
on the object, using the models of the tool and the object. The regrasp and
motion sub-planner builds the regrasp graph that represents all possible grasp
sequences to reorient and move the suction cup tool from an initial pose to a
goal pose. Two regrasp graphs are used to plan for a single suction cup and the
complex of the suction cup and an object respectively. The output of the
proposed planner is a sequence of robot motion that uses a suction cup tool to
manipulate objects following human instructions. The planner is examined and
analyzed by both simulation experiments and real-world executions using several
real-world tasks. The results show that the planner is efficient, robust, and
can generate sequential transit and transfer robot motion to finish complicated
combined task and motion planning tasks in a few seconds.
