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A dual-arm dexterous manipulator system with anthropomorphic kinematics

J.P. Karlen, J.M. Thompson, H.I. Vold, J.D. Farrell, P.H. Eismann
Proceedings., IEEE International Conference on Robotics and Automation  
This work aims to simulate the kinematics of a basic dual-arm manipulator by using the forward kinematics method and aided by the Autodesk Inventor software.  ...  Parts and assembly of the dual-arm manipulator are designed with Autodesk Inventor. Dual-arm manipulator motions were simulated in two types of trajectory planning.  ...  Rancangan dual-arm manipulator. Tabel 1. Joint dual-arm manipulator Panjang base link sebesar 310 mm dinotasikan dengan L0.  ... 
doi:10.1109/robot.1990.126003 dblp:conf/icra/KarlenTVFE90 fatcat:xqwpawfll5albnkczgqnbau6uu

Dual arm manipulation—A survey

Christian Smith, Yiannis Karayiannidis, Lazaros Nalpantidis, Xavi Gratal, Peng Qi, Dimos V. Dimarogonas, Danica Kragic
2012 Robotics and Autonomous Systems  
Recent advances in both anthropomorphic robots and bimanual industrial manipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation.  ...  It is therefore natural to study specifics of dual arm manipulation in humans and methods for using the resulting knowledge in robot control.  ...  using two arms in a closed kinematic chain, the stiffness and strength of a parallel manipulator can be combined with the task flexibility and dexterity of a serial link manipulator [17] . • Manipulability-Dual  ... 
doi:10.1016/j.robot.2012.07.005 fatcat:kjuryszyhvd3fexpwunckwkh5a

Anthropomorphic Telemanipulation System in Terminus Control Mode [chapter]

B. M. Jau, M. A. Lewis, A. K. Bejczy
1995 Theory and Practice of Robots and Manipulators  
The evaluation revealed the system's potential for tool handling but it also became evident that hand tool manipulations and space operations require a dual arm robot. . . . . 4. a vertical orientation  ...  The paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JP1..  ...  Acknowledgment This work was carried out at the Jet Propulsion laboratory, California Institute of Technology under a contract by the National Aeronautics and Space Achninistration,  ... 
doi:10.1007/978-3-7091-2698-1_12 fatcat:6fsnlar23feq5ke4ppljdrmaki

Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots

Jienan Ding, Nabil Simaan
2014 Robotica (Cambridge. Print)  
This paper presents a new minimal constraint suturing and automated choice of handedness for anthropomorphic dual-arm robots.  ...  SUMMARYLaparoscopic and Single Port Access Surgery (SPAS) present unique dexterity challenges related to dual-arm operations in confined spaces and tele-manipulation of highly dexterous surgical slaves  ...  In addition to instrument distal dexterity, easy dual-arm manipulation is essential for successful adoption of robotic surgical systems.  ... 
doi:10.1017/s026357471400109x fatcat:szhfmdgdybapziia6kcrqylsxi

Kinematic analysis and design considerations for optimal base frame arrangement of humanoid shoulders

Mostafa Bagheri, Arash Ajoudani, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
In the case of dual-arm systems and bimanual manipulation tasks, the kinematics effects to the above indices becomes even more apparent.  ...  However, in spite of the large number of dual-arm systems developed in the past, there is a little literature on the kinematic design analysis for the development of such systems.  ...  CONCLUSIONS This work introduces a procedure to optimize the kinematic placement of the shoulders of dual-arm manipulation systems with the aim to increase the manipulation capabilities of the dual-arm  ... 
doi:10.1109/icra.2015.7139566 dblp:conf/icra/BagheriALCT15 fatcat:764lriwppnfqhidesnkvcwfpwi

Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator

E. Cataldi, F. Real, A. Suarez, P.A. Di Lillo, F. Pierri, G. Antonelli, F. Caccavale, G. Heredia, A. Ollero
2019 Zenodo  
The paper presents a multiple task-priority inverse kinematics algorithm for a dual-arm aerial manipulator.  ...  The method has been experimentally validated on a system composed by an underactuated aerial hexarotor vehicle equipped with two lightweight 4-DOF manipulators, involved in operations requiring the coordination  ...  A. Anthropomorphic Dual Arm The manipulator integrated in the aerial platform is an anthropomorphic, compliant and lightweight dual arm [8] whose main parameters are summarized in Table I .  ... 
doi:10.5281/zenodo.2608973 fatcat:onljnaccebccjnpgjbmq3votsy

A Mechatronic Perspective on Robotic Arms and End-Effectors [chapter]

Pinhas Ben-Tzvi, Paul Moubarak
2011 Intelligent Mechatronics  
Supervisory control schemes are most desirable for applications requiring a high level of autonomy for anthropomorphic arms and hands with complex kinematic structures.  ...  4 Choosing between payload capabilities and dexterity is a decision a user has to make when selecting a robotic system.  ...  A Mechatronic Perspective on Robotic Arms and End-Effectors, Intelligent Mechatronics, Prof.  ... 
doi:10.5772/16234 fatcat:cfdud4wkgzg3rmz4ive2jpbtfi

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

Abhaykrishna M, Nidhi Parayil, Ibin Reghunandan, Sudheer P
2020 Journal of Automation, Mobile Robotics & Intelligent Systems  
Dual arm robots are a suitable solution for helping people with mobility impairments.  ...  Unlike human arms, these dual arm robots lack versatility in doing a wide variety of tasks with adequate coordination between the arms.  ...  Coordination of Dual Arm Robot The dual arm robot has more dexterity and flexibility compared to a single manipulator arm to do coordinated tasks [13] .  ... 
doi:10.14313/jamris/4-2019/38 fatcat:aod2fzt7svawvjbtjov3cprvma

Grasping and Control of Multi-Fingered Hands [chapter]

Luigi Villani, Fanny Ficuciello, Vincenzo Lippiello, Gianluca Palli, Fabio Ruggiero, Bruno Siciliano
2012 Springer Tracts in Advanced Robotics  
Introduction n DEXterous and autonomous dual-arm/hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition n New robotic hand with tactile and force sensing  ...  with uncertainties/variations of the dynamic parameters of the object or external forces applied n Manipulation by exploiting the redundant kinematic DOFs of the system within a task-based control framework  ... 
doi:10.1007/978-3-642-29041-1_5 fatcat:p6ebmwb3z5ho7b44ilqlcxame4

Modeling human-likeness in approaching motions of dual-arm autonomous robots

Nestor Garcia, Jan Roseli, Raul Suarez
2018 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)  
This paper addresses the problem of obtaining human-like motions with an anthropomorphic dual-arm torso assembled on a mobile platform.  ...  The focus is set on the coordinated movements of the robotic arms and the robot base while approaching a table to subsequently perform a bimanual manipulation task.  ...  In addition, the synergies were used in a dual-arm anthropomorphic system while performing manipulation tasks [19] , [20] .  ... 
doi:10.1109/simpar.2018.8376269 dblp:conf/simpar/GarciaRS18 fatcat:zmxf7nzkgrd37hyeoia52wk4fq

A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks

Guoniu Zhu, Xiao Xiao, Changsheng Li, Jin Ma, Godwin Ponraj, A. V. Prituja, Hongliang Ren
2020 Applied Sciences  
A challenging bimanual manipulation task for an object with 5.2 kg was well addressed using the integrated teleoperation system.  ...  Experimental results show that the proposed bimanual teleoperation system can effectively handle typical manipulation tasks, with excellent adaptabilities for a wide range of shapes, sizes, and weights  ...  Compared with traditional teleoperation system with one arm and one gripper, the bimanual configuration with dual arms and dual grippers enables the robotic system to perform more complex manipulation  ... 
doi:10.3390/app10062086 fatcat:6ozghvf6zvfybegl2y36dlptjy

Tele-assembly in Wide Remote Environments

Angelika Peer, Bartlomiej Stanczyk, Ulrich Unterhinninghofen, Martin Buss
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This system comprises a telemanipulator with two anthropomorphic 7-DOF arms controlled by a hyper-redundant 10-DOF haptic display.  ...  In this paper a description of the overall teleoperation system is given, and details and results of an experiment involving locomotion, navigation and dexterous manipulation are presented.  ...  Subsection 2.2 continues with the description of a multi-fingered telemanipulation system, which enables dexterous manipulation tasks. Subsection 2.3 deals with the stereo vision system.  ... 
doi:10.1109/iros.2006.282207 dblp:conf/iros/PeerSUB06 fatcat:j4xskv6f2rhaneff3kt7w6bj3a

A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU [article]

Shuang Li, Jiaxi Jiang, Philipp Ruppel, Hongzhuo Liang, Xiaojian Ma, Norman Hendrich, Fuchun Sun, Jianwei Zhang
2020 arXiv   pre-print
A wearable camera holder enables simultaneous hand-arm control and facilitates the mobility of the whole teleoperation system.  ...  In this paper, we present a multimodal mobile teleoperation system that consists of a novel vision-based hand pose regression network (Transteleop) and an IMU-based arm tracking method.  ...  Through this multimodal system, we implement different manipulation tasks such as pick and place, cup insertion, object pushing, and dual-arm handover tasks on a PR2 robot with a Shadow hand installed  ... 
arXiv:2003.05212v1 fatcat:vf2auxtcxzhdfjwwpaiaabpqmq

Human-Like Arm Motion Generation: A Review

Gianpaolo Gulletta, Wolfram Erlhagen, Estela Bicho
2020 Robotics  
This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems.  ...  However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation.  ...  [22] proposed a solution for resolving the redundancy of an anthropomorphic dual-arm robotic system through the minimization of muscular effort.  ... 
doi:10.3390/robotics9040102 fatcat:fahjlaf6hraslknxo7ifw5o4au

Robonaut 2 - The first humanoid robot in space

M.A. Diftler, J.S. Mehling, M.E. Abdallah, N.A. Radford, L.B. Bridgwater, A.M. Sanders, R.S. Askew, D.M. Linn, J.D. Yamokoski, F.A. Permenter, B.K. Hargrave, R. Platt (+2 others)
2011 2011 IEEE International Conference on Robotics and Automation  
R2's integrated mechatronics design results in a more compact and robust distributed control system with a faction of the wiring of the original Robonaut.  ...  This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more valuable tool for astronauts.  ...  The hand, shown in figure 5 , is divided into a dexterous set used for manipulation and a grasping set used to maintain a stable grasp while working with large tools.  ... 
doi:10.1109/icra.2011.5979830 dblp:conf/icra/DiftlerMARBSALYPHPSA11 fatcat:bqedvu4tgfhmbe7iz4sqof4dfe
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