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Trajectory planning to open valves for dual-arm robots
11th IEEE International Conference on Control & Automation (ICCA), 2014To perform the opening valve task in the DRC (Darpa Robotics Challenge), trajectory planning for dual-arm of the humanoid robot is an important issue under the condition of constrained position and pose of middle points in the trajectory. Different approaches to open valves have been investigated in this study.
Shuai Wang +3 more
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Peg-in-hole assembly based on master-slave coordination for a compliant dual-arm robot
, 2020The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task.,The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly ...
Yanjiang Huang +4 more
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Motor-Imagery-Based Teleoperation of a Dual-Arm Robot Performing Manipulation Tasks
IEEE Transactions on Cognitive and Developmental Systems, 2019This paper proposes a brain–computer interface (BCI)-based teleoperation strategy for a dual-arm robot carrying a common object by multifingered hands. The BCI is based on motor imagery of the human brain, which utilizes common spatial pattern method to ...
Yiliang Liu +6 more
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Reinforcement learning of clothing assistance with a dual-arm robot
2011 11th IEEE-RAS International Conference on Humanoid Robots, 2011This study aims at robotic clothing assistance as it is yet an open field for robotics despite it is one of the basic and important assistance activities in daily life of elderly as well as disabled people. The clothing assistance is a challenging problem since robots must interact with non-rigid clothes generally represented in a high-dimensional ...
Tomoya Tamei +3 more
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Dual-arm Cartesian robotic system for parallel tasking
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002This paper details the design of a novel robotic system for performing automated container case packing operations. The system has unique design concepts that addressed many real problems generally encountered in bottle packing operations. The efficient automated operation is mainly achieved through the use of dual-arm concept for parallel tasking ...
Wei Lin 0002, Xiaoqi Chen
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Relative Dynamic Modeling of Dual-Arm Coordination Robot
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018The dynamic modeling of dual-arm robot is the key technology to study the coordinated motion of the two arms. The difficulty lies in establishing the connection between the two robot arms in the same system. Aiming at the problem of dynamic modeling of dual-arm coordination robot, the general dynamic models of the two manipulators based on the ...
Jianhua Zhang +3 more
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Visual servoing for dual arm motions on a humanoid robot
2009 9th IEEE-RAS International Conference on Humanoid Robots, 2009In this work we present a visual servoing approach that enables a humanoid robot to robustly execute dual arm grasping and manipulation tasks. Therefore the target object(s) and both hands are tracked alternately and a combined open-/ closed-loop controller is used for positioning the hands with respect to the target(s).
Nikolaus Vahrenkamp +5 more
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Impedance control of a dual-arm robot.
2009Intensive research efforts are currently directed toward special robotic applications. One of the largest international projects with a focus on this research is the Space Station Freedom. Canada's contribution to this project is a Mobile Servicing System (MSS). This system will be used for assembly and maintenance of the space station.
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Workspace Simulation and Analysis of a Dual-Arm Nursing Robot
2019Based on the self-innovative dual-arm nursing robot, the kinematics model of the robot is established by D-H method, and the forward kinematics equation of the robot is analyzed and solved. Monte Carlo method was used to analyze the workspace of the nursing robot, and then the MATLAB was used to get the point cloud of the wrist joint at the end of arms.
Libo Zhang, Su Wang, Xingang Miao
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