Dexterous manipulation of dual-arm robots in unstructured environments is very useful. Programming a dual-arm industrial robot to efficiently complete dexterous tasks, however, is especially challenging due to the complexity of its inverse kinematics, motion planning, dual-arm coordination with self-collision avoidance, and so on. This paper presents a systematic solution to accurately manipulate a dual-arm industrial robot on-site via light-weight wearable devices. In the developed system, the human operator directly drives the robot through the human arms motions tracked by the combination of inertial measurement units and handheld joystick controllers. A proper motion retargeting method with self-collision avoidance is used to enable the user to manipulate the robot directly through intuitive arm motions within a comfortable range and ensure the task manipulation with safety in unstructured environments. The developed system has been tested with various tasks, such as the manipulation of objects of different shapes, dexterous turn-over, and dual-arm coordination. Compared with the existing telerobotic systems, the developed system with simultaneous 14 degree-of-freedom teleoperation directly driven by light-weight wearable devices is able to handle more dexterous and accurate manipulation tasks with the capability of fast deployment and self-collision awareness. Such a solution could pave the way for online dual-arm robot programming on efficient manipulation skills transfer in the future.
Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing