Cooperative Manipulation and Identification of a 2-DOF Articulated Object by a Dual-Arm Robot

Abstract

In this work, we address the dual-arm manipulation of a two degrees-of-freedom articulated object that consists of two rigid links. This can include a linkage constrained along two motion directions, or two objects in contact, where the contact imposes motion constraints. We formulate the problem as a cooperative task, which allows the employment of coordinated task space frameworks, thus enabling redundancy exploitation by adjusting how the task is shared by the robot arms. In addition, we propose a method that can estimate the joint location and the direction of the degrees-of-freedom, based on the contact forces and the motion constraints imposed by the object. Experimental results demonstrate the performance of the system in its ability to estimate the two degrees of freedom independently or simultaneously.

A Survey of Robot Manipulation in Contact

“…Also in tasks such as melon scooping while one arm holds and the other one scoops [38], drawing on a board held by another robot [108] or peg-in-hole where also the "hole" is held [43,46], it can be advantageous if also the holder arm can explicit compliance, even if no active motions are performed; this is also how a human performs such tasks [43]. Dualarm manipulation has been employed for manipulating 2-DOF articulated objects with co-located prismatic and revolute joints where F/T sensing and proprioception of both were utilized to localize the joints and track their states [134]; such an approach can be used for modeling and performing bimanual folding assembly.…”

Discrete Bimanual Manipulation for Wrench Balancing

“…In the absence of the constraints g i (p i ), all solutions where p com is centered between a line which crosses the two end-effectors will minimize both errors as defined in (7). This is a source of redundancy that can be exploited by setting d min in the cost function (11).…”

“…Several works leverage wrench measurements to estimate geometric features, e.g. [4]- [7]. In our setup, we adopt the same fundamental force and torque relationship for quasistatic scenarios for the estimation of the COM.…”

A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution

“…Under the control law (23) and update rule (24), the time derivative of (25) along the trajectories of (12) yields…”