Autonomous vision-guided bi-manual grasping and manipulation
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Authors
Colleges, School and Institutes
External organisations
- Extreme Robotics Lab
- KUKA Robotics UK Ltd
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.
Details
Original language | English |
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Title of host publication | 2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) |
Publication status | Published - 4 Sep 2017 |
Event | 2017 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2017 - Austin, United States Duration: 8 Mar 2017 → 10 Mar 2017 |
Publication series
Name | IEEE Workshop on Advanced Robotics and its Social Impacts. Conference Proceedings |
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Publisher | Institute of Electrical and Electronics Engineers |
Volume | 2017 |
ISSN (Print) | 2162-7568 |
ISSN (Electronic) | 2162-7576 |
Conference
Conference | 2017 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2017 |
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Country | United States |
City | Austin |
Period | 8/03/17 → 10/03/17 |
Keywords
- Robot kinematics, Tracking, Aerospace electronics, Manipulators, Visualization, Trajectory