Cooperative Manipulation and Identification of a 2-DOF Articulated Object by a Dual-Arm Robot
Paper i proceeding, 2018

In this work, we address the dual-arm manipulation of a two degrees-of-freedom articulated object that consists of two rigid links. This can include a linkage constrained along two motion directions, or two objects in contact, where the contact imposes motion constraints. We formulate the problem as a cooperative task, which allows the employment of coordinated task space frameworks, thus enabling redundancy exploitation by adjusting how the task is shared by the robot arms. In addition, we propose a method that can estimate the joint location and the direction of the degrees-of-freedom, based on the contact forces and the motion constraints imposed by the object. Experimental results demonstrate the performance of the system in its ability to estimate the two degrees of freedom independently or simultaneously.

Författare

Diogo Almeida

Kungliga Tekniska Högskolan (KTH)

Yiannis Karayiannidis

Kungliga Tekniska Högskolan (KTH)

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)

1050-4729 (ISSN)

5445-5451

IEEE International Conference on Robotics and Automation (ICRA)
Brisbane, Australia,

Ämneskategorier

Datorteknik

Robotteknik och automation

Datorseende och robotik (autonoma system)

DOI

10.1109/ICRA.2018.8460511

ISBN

9781538630815

Mer information

Senast uppdaterat

2019-07-10