Results 1 to 10 of about 14,513 (104)

Human-Inspired Holistic Control for Mobile Humanoid Robots [PDF]

Biomimetics
Humanoid mobile manipulators integrate a humanoid upper body with a mobile platform, forming a highly redundant system capable of performing complex manipulation tasks.
Zijian Wang, Xuanrui Ren, Hongfu Tang, Hongzhe Jin, Jie Zhao   +4 more
doaj   +2 more sources

ST-HADP: Spatio-Temporal hierarchical attention diffusion policy for long-horizon generalizable bimanual visuomotor imitation [PDF]

Frontiers in Neurorobotics
IntroductionDual-arm robotic manipulation presents fundamental challenges in coordinating spatially shared perception and temporally extended behaviors under limited demonstration settings.
Xukun Liu, Fengjuan Xie, Shibo Liu, Xu Sun, Zhenyu Liu, Guangning Li, Shenggang Wei   +6 more
doaj   +2 more sources

Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

International Journal of Advanced Robotic Systems, 2016
When applied to some tasks, such as payload handling, assembling, repairing and so on, the two arms of a humanoid robot will form a closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult.
Tianliang Liu, Yan Lei, Liang Han, Wenfu Xu, Huaiwu Zou   +4 more
doaj   +2 more sources

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Sensors, 2017
This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors
Xianmin Zhang, Yanglong Zheng, Jun Ota, Yanjiang Huang   +3 more
doaj   +3 more sources

Design of and Experiment with a Dual-Arm Apple Harvesting Robot System

Horticulturae
Robotic harvesting has become an urgent need for the development of the apple industry, due to the sharp decline in agricultural labor. At present, harvesting apples using robots in unstructured orchard environments remains a significant challenge.
Wenlei Huang, Zhonghua Miao, Tao Wu, Zhengwei Guo, Wenkai Han, Tao Li   +5 more
doaj   +3 more sources

A Collaborative Control Method of Dual-Arm Robots Based on Deep Reinforcement Learning

Applied Sciences, 2021
Collaborative control of a dual-arm robot refers to collision avoidance and working together to accomplish a task. To prevent the collision of two arms, the control strategy of a robot arm needs to avoid competition and to cooperate with the other one ...
Luyu Liu, Qianyuan Liu, Yong Song, Bao Pang, Xianfeng Yuan, Qingyang Xu   +5 more
doaj   +1 more source

Research on trajectory planning of sub-assembly and unit-assembly robot in shipbuilding industry

Advances in Mechanical Engineering, 2022
In shipbuilding, welds in sub-assemblies and unit-assemblies are long and various type. The robot arm needs the gantry movement to cooperate with the welding operation. However, there are joint redundancy and double-arm coordination problems, which cause
Yicun Xu, Yujie Ji, Jiong Yang, Lei Cheng, Haonan Wang, Hongwei Sun, Chao Liu, Benshun Zhang   +7 more
doaj   +1 more source

Design of a Virtual Multi-Interaction Operation System for Hand–Eye Coordination of Grape Harvesting Robots

Agronomy, 2023
In harvesting operations, simulation verification of hand–eye coordination in a virtual canopy is critical for harvesting robot research. More realistic scenarios, vision-based driving motion, and cross-platform interaction information are needed to ...
Jizhan Liu, Jin Liang, Shengyi Zhao, Yingxing Jiang, Jie Wang, Yucheng Jin   +5 more
doaj   +1 more source

Coupling of shoulder joint torques in individuals with chronic stroke mirrors controls, with additional non-load-dependent negative effects in a combined-torque task

Journal of NeuroEngineering and Rehabilitation, 2021
Background After stroke, motor control is often negatively affected, leaving survivors with less muscle strength and coordination, increased tone, and abnormal synergies (coupled joint movements) in their affected upper extremity.
Joseph V. Kopke, Levi J. Hargrove, Michael D. Ellis   +2 more
doaj   +1 more source

Force-Closure-Based Weighted Hybrid Force/Position Fuzzy Coordination Control for Dual-Arm Robots

Actuators
There is a strong coupling between two arms in cooperative operations of dual-arm robots. To enhance the coordination and cooperation ability of dual-arm robots, a force-closure-based weighted hybrid force/position fuzzy coordination control method is ...
Jun Dai, Yi Zhang, Weiqiang Dou
doaj   +1 more source