Dual-arm robots can overcome grasping force and payload limitations of a single arm by jointly grasping an object.However, if the distribution of mass of the grasped object is not even, each arm will experience different wrenches that can exceed its payload limits.In this work, we consider the problem of balancing the wrenches experienced by a dual-arm robot grasping a rigid tray.The distribution of wrenches among the robot arms changes due to objects being placed on the tray.We present an approach to reduce the wrench imbalance among arms through discrete bimanual manipulation.Our approach is based on sequential sliding motions of the grasp points on the surface of the object, to attain a more balanced configuration.%This is achieved in a discrete manner, one arm at a time, to minimize the potential for undesirable object motion during execution.We validate our modeling approach and system design through a set of robot experiments. ; Under review for ICRA 2020. QC 20191029


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Discrete Bimanual Manipulation for Wrench Balancing


    Beteiligte:

    Medientyp :

    Paper


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

    Alejandro Suarez / Fran Real / Victor M. Vega et al. | BASE | 2020

    Freier Zugriff

    Bimanual training

    Bare, H. Bloomfield | DataCite | 1898




    Hand tracking in bimanual movements

    Shamaie, A. / Sutherland, A. | British Library Online Contents | 2005