TY - GEN
T1 - Dual-arm Coordinated Manipulation for Object Twisting with Human Intelligence
AU - Bai, Weibang
AU - Zhang, Ningshan
AU - Huang, Baoru
AU - Wang, Ziwei
AU - Cursi, Francesco
AU - Tsai, Ya Yen
AU - Xiao, Bo
AU - Yeatman, Eric M.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object manipulation. Meanwhile, safety and efficiency are primary concerns for robotic dual-arm coordinated manipulation. Thus, the normally adopted fully automated task execution approaches based on environmental perception and motion planning techniques are still inadequate and problematic for the arduous twisting tasks. To this end, this paper presents a novel strategy of the dual-arm coordinated control for twisting manipulation based on the combination of optimized motion planning for one arm and real-time telecontrol with human intelligence for the other. The analysis and simulation results showed it can achieve collision and singularity free for dual arms with enhanced dexterity, safety, and efficiency.
AB - Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object manipulation. Meanwhile, safety and efficiency are primary concerns for robotic dual-arm coordinated manipulation. Thus, the normally adopted fully automated task execution approaches based on environmental perception and motion planning techniques are still inadequate and problematic for the arduous twisting tasks. To this end, this paper presents a novel strategy of the dual-arm coordinated control for twisting manipulation based on the combination of optimized motion planning for one arm and real-time telecontrol with human intelligence for the other. The analysis and simulation results showed it can achieve collision and singularity free for dual arms with enhanced dexterity, safety, and efficiency.
UR - http://www.scopus.com/inward/record.url?scp=85119504009&partnerID=8YFLogxK
U2 - 10.1109/SMC52423.2021.9658594
DO - 10.1109/SMC52423.2021.9658594
M3 - Conference Proceeding
AN - SCOPUS:85119504009
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 902
EP - 908
BT - 2021 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2021
Y2 - 17 October 2021 through 20 October 2021
ER -