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Cooperative Manipulation and Identification of a 2-DOF Articulated Object by a Dual-Arm Robot
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL. (RPL)ORCID iD: 0000-0003-3252-715X
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL. Dept. of Electrical Eng., Chalmers University of Technology.ORCID iD: 0000-0001-5129-342X
2018 (English)In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) / [ed] IEEE, 2018, p. 5445-5451Conference paper, Published paper (Refereed)
Abstract [en]

In this work, we address the dual-arm manipula-tion of a two degrees-of-freedom articulated object that consistsof two rigid links. This can include a linkage constrainedalong two motion directions, or two objects in contact, wherethe contact imposes motion constraints. We formulate theproblem as a cooperative task, which allows the employment ofcoordinated task space frameworks, thus enabling redundancyexploitation by adjusting how the task is shared by the robotarms. In addition, we propose a method that can estimate thejoint location and the direction of the degrees-of-freedom, basedon the contact forces and the motion constraints imposed bythe object. Experimental results demonstrate the performanceof the system in its ability to estimate the two degrees of freedomindependently or simultaneously.

Place, publisher, year, edition, pages
2018. p. 5445-5451
Keywords [en]
Robotics, Dual-Arm, Manipulation, Estimation, Adaptive, Filtering
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-226562ISI: 000446394504016Scopus ID: 2-s2.0-85063142273ISBN: 978-1-5386-3081-5 (print)OAI: oai:DiVA.org:kth-226562DiVA, id: diva2:1199313
Conference
IEEE International Conference on Robotics and Automation (ICRA), 2018
Projects
SARAFun
Note

QC 20180423

Available from: 2018-04-20 Created: 2018-04-20 Last updated: 2019-05-16Bibliographically approved

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Almeida, DiogoKarayiannidis, Yiannis

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Citation style
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