@inproceedings{4347a64e76014d22ac858d5629381038,
title = "Autonomous vision-guided bi-manual grasping and manipulation",
abstract = "This paper describes the implementation, demonstration and evaluation of a variety of autonomous, vision-guided manipulation capabilities, using a dual-arm Baxter robot. Initially, symmetric coordinated bi-manual manipulation based on kinematic tracking algorithm was implemented on the robot to enable a master-slave manipulation system. We demonstrate the efficacy of this approach with a human-robot collaboration experiment, where a human operator moves the master arm along arbitrary trajectories and the slave arm automatically follows the master arm while maintaining a constant relative pose between the two end-effectors. Next, this concept was extended to perform dual-arm manipulation without human intervention. To this extent, an image-based visual servoing scheme has been developed to control the motion of arms for positioning them at a desired grasp locations. Next we combine this with a dynamic position controller to move the grasped object using both arms in a prescribed trajectory. The presented approach has been validated by performing numerous symmetric and asymmetric bi-manual manipulations at different conditions. Our experiments demonstrated 80% success rate in performing the symmetric dual-arm manipulation tasks; and 73% success rate in performing asymmetric dualarm manipulation tasks.",
keywords = "Robot kinematics, Tracking, Aerospace electronics, Manipulators, Visualization, Trajectory",
author = "Alireza Rastegarpanah and Naresh Marturi and Rustam Stolkin",
year = "2017",
month = sep,
day = "4",
doi = "10.1109/ARSO.2017.8025192",
language = "English",
isbn = "978-1-5090-0476-8 (PoD)",
series = "IEEE Workshop on Advanced Robotics and its Social Impacts. Conference Proceedings",
publisher = "IEEE Computer Society",
booktitle = "2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)",
address = "United States",
note = "2017 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2017 ; Conference date: 08-03-2017 Through 10-03-2017",
}