Experiments in dual-arm manipulation planning

2003 ◽  
Author(s):  
Y. Koga ◽  
J.-C. Latombe
Keyword(s):  
Manipulation Planning ◽  
Dual Arm

Preparatory Manipulation Planning Using Automatically Determined Single and Dual Arm

2020 ◽  
Vol 16 (1) ◽  
pp. 442-453 ◽  
Author(s):  
Weiwei Wan ◽  
Kensuke Harada ◽  
Fumio Kanehiro
Keyword(s):  
Manipulation Planning ◽  
Dual Arm

A strategy for dual-arm manipulation planning

1994 ◽  
Vol 27 (14) ◽  
pp. 919-924 ◽  
Author(s):  
G. Conte ◽  
R. Zulli
Keyword(s):  
Manipulation Planning ◽  
Dual Arm

scholarly journals Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping

2021 ◽  
Vol 11 (19) ◽  
pp. 9103
Author(s):  
Ang Zhang ◽  
Keisuke Koyama ◽  
Weiwei Wan ◽  
Kensuke Harada
Keyword(s):  
Object Manipulation ◽  
Robotic Manipulation ◽  
Limited Area ◽  
Object Surface ◽  
Manipulation Planning ◽  
Kinematic Constraints ◽  
Unstable Support ◽  
End Effectors ◽  
Set Of Points ◽  
Dual Arm

Robotic manipulation of a bulky object is challenging due to the limited kinematics and payload of the manipulator. In this study, a robot realizes the manipulation of general-shaped bulky objects utilizing the contact with the environment. We propose a hierarchical manipulation planner that effectively combined three manipulation styles, namely, pivoting, tumbling, and regrasping. In our proposed method, we first generate a set of superimposed planar segments on the object surface to obtain an object pose in stable contact with the table, and a set of points on the object surface for the end-effectors (EEFs) of a dual-arm manipulator to stably grasp the object. Object manipulation can be realized by solving a graph, considering the kinematic constraints of pivoting and tumbling. For pivoting, we consider two supporting styles: stable support (SP) and unstable support (USP). Our proposed method manipulates large and heavy objects by selectively using the two different support styles of pivoting and tumbling according to the conditions on the table area. In addition, it can effectively avoid the limitation arising due to the arm kinematics by regrasping the object. We experimentally demonstrate that a dual-arm manipulator can move an object from the initial to goal position within a limited area on the table, avoiding obstacles placed on the table.

Study on Trajectory Planning of Dual-arm Space Robot Keeping the Base Stabilized

2014 ◽  
Vol 39 (1) ◽  
pp. 69-80 ◽  
Author(s):  
Wen-Fu XU ◽  
Xue-Qian WANG ◽  
Qiang XUE ◽  
Bin LIANG
Keyword(s):  
Trajectory Planning ◽  
Space Robot ◽  
Dual Arm

scholarly journals Simulation of Grasp Localization Inferences for a Dual-Arm Collaborative Robot

2021 ◽  
Vol 1012 ◽  
pp. 012004
Author(s):  
A Josin Hippolitus ◽  
R. Senthilnathan ◽  
Omar Malla
Keyword(s):  
Collaborative Robot ◽  
Dual Arm

scholarly journals Digital Twin for Designing and Reconfiguring Human–Robot Collaborative Assembly Lines

2021 ◽  
Vol 11 (10) ◽  
pp. 4620
Author(s):  
Niki Kousi ◽  
Christos Gkournelos ◽  
Sotiris Aivaliotis ◽  
Konstantinos Lotsaris ◽  
Angelos Christos Bavelos ◽  
...  
Keyword(s):  
Production System ◽  
Assembly Lines ◽  
Flexible Assembly ◽  
Digital Twin ◽  
Collaborative Assembly ◽  
Geometrical Information ◽  
Line Level ◽  
Dual Arm ◽  
Different Levels

This paper discusses a digital twin-based approach for designing and redesigning flexible assembly systems. The digital twin allows modeling the parameters of the production system at different levels including assembly process, production station, and line level. The approach allows dynamically updating the digital twin in runtime, synthesizing data from multiple 2D–3D sensors in order to have up-to-date information about the actual production process. The model integrates both geometrical information and semantics. The model is used in combination with an artificial intelligence logic in order to derive alternative configurations of the production system. The overall approach is discussed with the help of a case study coming from the automotive industry. The case study introduces a production system integrating humans and autonomous mobile dual arm workers.

Food Peeling Method for Dual-arm Cooking Robot

2021 ◽  
Author(s):  
Chenyu Dong ◽  
Liangliang Yu ◽  
Masaru Takizawa ◽  
Shunsuke Kudoh ◽  
Takashi Suehiro
Keyword(s):  
Dual Arm
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