Robotized Assembly Process Using Dual Arm Robot

Tsarouchi, Panagiota; Makris, Sotiris; Michalos, George; Stefos, Michael; Fourtakas, Konstantinos; Kaltsoukalas, Konstantinos; Kontrovrakis, Dimitris; Chryssolouris, George

doi:10.1016/j.procir.2014.10.078

Cited by 51 publications

(24 citation statements)

References 12 publications

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“…The authors introduce a new polygonal garment model, which is shown to be applicable to various classes of garment. However, none of the previously mentioned works present a complete and generic pipeline, [4] and [5] do Stria et al [6] was proposed a very specific and limited use-case. To the best knowledge of the authors, there are no significant recent works, which present a complete autonomous robotic system for dualarm manipulation.…”

Section: Related Workmentioning

confidence: 99%

Autonomous Dual-Arm Manipulation of Familiar Objects

Pavlichenko

Rodríguez

Schwarz

et al. 2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with different shapes and appearances that have to be grasped in a very specific manner so they can be functionally used. In this paper we present an integrated approach to perform dual-arm pick tasks autonomously. Our method consists of semantic segmentation, object pose estimation, deformable model registration, grasp planning and arm trajectory optimization. The entire pipeline can be executed onboard and is suitable for on-line grasping scenarios. For this, our approach makes use of accumulated knowledge expressed as convolutional neural network models and low-dimensional latent shape spaces. For manipulating objects, we propose a stochastic trajectory optimization that includes a kinematic chain closure constraint. Evaluation in simulation and on the real robot corroborates the feasibility and applicability of the proposed methods on a task of picking up unknown watering cans and drills using both arms.

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Section: Related Workmentioning

confidence: 99%

Autonomous Dual-Arm Manipulation of Familiar Objects

Pavlichenko

Rodríguez

Schwarz

et al. 2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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“…Though cooperative tasks were achieved, the project used two separate individual manipulators which require larger space compared to a dual arm robot. In the study proposed by Tsarouchi et al [3], benefits of using of dual arm robot in an assembly line were analysed and concluded that the workstation setup increased the workspace and simplified the programming. Most of the dual arm robots he analysed are bulky and designed for specific applications as they are used in the industries.…”

Section: Introductionmentioning

confidence: 99%

Development of Anthropomorphic Dual Arm Robot with Distinct Degrees of Freedom for Coordinated Operations

Abhaykrishna¹,

Parayil²,

Reghunandan³

et al. 2019

JAMRIS

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Development of assistive robots for helping the disabled is a field of research that has gathered attention recently. According to surveys, about one billion people in the world population have some kind of disability. Dual arm robots are a suitable solution for helping people with mobility impairments. The current development in the field of dual-arm robots is focused mainly in the industrial field to carry out cyclic tasks. This includes activities such as pick and place, assembling parts and doing other industrial operations. Unlike human arms, these dual arm robots lack versatility in doing a wide variety of tasks with adequate coordination between the arms. Due to these constraints, industrial dual arm robots cannot be directly implemented for assisting the disabled. This paper focuses on designing a compact dual arm robot which closely mimics human arms to do coordinated tasks with lesser Degrees of Freedom (DoF). Therefore, the developed robot extends its capabilities from industrial applications to daily life activities. Closed loop control is used in actuating the proposed 9 DoF dual arm robot with distinct DoF. Target position is acquired using image processing. Hand to hand coordination in various operations such as pick and place, transferring objects, serving food, etc. has successfully experimented.

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“…Potential applications for cooperative manipulation range from manufacturing industry [3] to hazardous environments such as nuclear sites [4], underwater [5] and space [6,7]. Cooperation can lead to decreased costs since a wide range of tasks can be accomplished through the use of multiple simpler and less expensive robots.…”

Section: Introductionmentioning

confidence: 99%

Dual-arm cooperative manipulation under joint limit constraints

Ortenzi

Muthusamy

Freddi

et al. 2018

Robotics and Autonomous Systems

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Cooperative manipulation of a rigid object is challenging and represents an interesting and active research area, especially when these robots are subject to joint and task prioritization constraints. In cooperative manipulation, a primary task is to maintain the coordination of motions, to avoid severe damage caused by the violation of kinematic constraints imposed by the closed chain mechanism. This paper proposes a kinematic controller for dual-arm coopera

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Robotized Assembly Process Using Dual Arm Robot

Cited by 51 publications

References 12 publications

Autonomous Dual-Arm Manipulation of Familiar Objects

Autonomous Dual-Arm Manipulation of Familiar Objects

Development of Anthropomorphic Dual Arm Robot with Distinct Degrees of Freedom for Coordinated Operations

Dual-arm cooperative manipulation under joint limit constraints

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