Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Manipulate Tethered Tools
Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Manipulate Tethered Tools
复制标题
四臂协作：两个双臂机器人协同操作系留工具
DOI：
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
K. Harada
中科院分区：
文献类型：
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作者：
Daniel Sánchez;Weiwei Wan;K. Harada
本文提出了一种主双臂机器人在辅助双臂机器人的帮助下操纵系留工具的规划方案。辅助机器人通过操纵工具电缆和避免碰撞来辅助主机器人。所提供的辅助允许主机器人在机器人工作台上执行工具放置并重新抓取它，这通常会失败，因为电缆张力可能会改变工具的位置。它还允许主机器人执行工具移交，这通常会导致缠绕或碰撞电缆和环境没有帮助。仿真和现实世界的实验验证了所提出的规划。实验结果表明，在辅助双臂机器人和所提方法的帮助下，主机器人在使用系留工具时获得了更高的灵活性。
This article presents a planner for a master dual-arm robot to manipulate tethered tools with the help of an assistant dual-arm robot. The assistant robot assists the master robot by manipulating the tool cable and avoiding collisions. The provided assistance allows the master robot to perform tool placements on the robot workspace table and regrasp it, which would typically fail since cable tension may change the tool positions. It also allows the master robot to perform tool handovers, which would normally cause entanglements or collisions with the cable and the environment without assistance. Simulations and real-world experiments are performed to validate the proposed planner. Experimental results show that with the help of the assistant dual-arm robot and the proposed method, the master robot obtained improved flexibility in working with tethered tools.
影响因子：
9.2
作者：
McConachie, Dale;Dobson, Andrew;Berenson, Dmitry
通讯作者：
Berenson, Dmitry
影响因子：
5.2
作者：
Ramyad Hadidi;Jiashen Cao;M. Woodward;M. Ryoo;Hyesoon Kim
通讯作者：
Ramyad Hadidi;Jiashen Cao;M. Woodward;M. Ryoo;Hyesoon Kim