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Learning to Centralize Dual-Arm Assembly [article]

Marvin Alles, Elie Aljalbout
2021 arXiv   pre-print
centralized learned policy.  ...  As we aim to contribute towards an approach that is not limited to dual-arm assembly, but dual-arm manipulation in general, we keep modeling efforts at a minimum.  ...  Learning to Centralize Dual-Arm Assembly  ... 
arXiv:2110.04003v2 fatcat:hivy3ctji5e27cyyxe3ivhzj3a

Learning to Centralize Dual-Arm Assembly

Marvin Alles, Elie Aljalbout
2022 Frontiers in Robotics and AI  
centralized learned policy.  ...  As we aim to contribute toward an approach that is not limited to dual-arm assembly but dual-arm manipulation in general, we keep modeling efforts at a minimum.  ...  ACKNOWLEDGMENTS We would like to thank Carlos Magno C. O. Valle, Luis F. C.  ... 
doi:10.3389/frobt.2022.830007 pmid:35402518 pmcid:PMC8984145 fatcat:4bposfgqyjctng6vr37aqzqdne

Improving dual-arm assembly by master-slave compliance [article]

Markku Suomalainen, Sylvain Calinon, Emmanuel Pignat, Ville Kyrki
2019 arXiv   pre-print
In this paper we show how different choices regarding compliance affect a dual-arm assembly task. In addition, we present how the compliance parameters can be learned from a human demonstration.  ...  Compliant motions can be used in assembly tasks to mitigate pose errors originating from, for example, inaccurate grasping.  ...  Mechanics of compliant dual-arm assembly When performing dual-arm assembly with compliance, there are a number of possible failure types and variables that affect them.  ... 
arXiv:1902.07007v1 fatcat:urvlmvbe7bg77evzlkejt37eke

Improving dual-arm assembly by master-slave compliance

Markku Suomalainen, Sylvain Calinon, Emmanuel Pignat, Ville Kyrki
2019 2019 International Conference on Robotics and Automation (ICRA)  
In this paper we show how different choices regarding compliance affect a dual-arm assembly task. In addition, we present how the compliance parameters can be learned from a human demonstration.  ...  Compliant motions can be used in assembly tasks to mitigate pose errors originating from, for example, inaccurate grasping.  ...  compliance affect a dual-arm assembly task.  ... 
doi:10.1109/icra.2019.8793977 dblp:conf/icra/SuomalainenCPK19 fatcat:lohdeik2obbx3h7zu3qxcmkesu

Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects

Konstantinos Chatzilygeroudis, Bernardo Fichera, Ilaria Lauzana, Fanjun Bu, Kunpeng Yao, Farshad Khadivar, Aude Billard
2020 IEEE Robotics and Automation Letters  
Index Terms-Performance evaluation and benchmarking, dual arm manipulation, model learning for control, dexterous manipulation.  ...  learning.  ...  Dual-Arm Centralized Control: In order to safely control both manipulators, we consider both of them as a single robot and perform Quadratic Programming (QP) based inverse kinematics control in order to  ... 
doi:10.1109/lra.2020.2972837 fatcat:bdchalm6wfhm5euyizpc5w4c3q

Arduino Based Trainable Robotic Arm

K M Shweta Arpitha H V
2017 Zenodo  
The robotic arm is implemented based on the teach function of the arduino. The proposed robotic arm is capable of learning different movements and reproduces them as required.  ...  The industry is moving from current state of automation to robotization, to increase productivity and to deliver uniform quality. A trainable robotic arm is proposed in this paper.  ...  This dual arm robot manipulator is designed for the assembly automation of the automotive parts in automobile and other industries.  ... 
doi:10.5281/zenodo.807563 fatcat:n7e2iqrsrfg5lcwdkdn5gvqnca

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.  ...  In industrial settings, a typical application for dual arm systems is parts assembly.  ... 
doi:10.1016/j.robot.2012.07.005 fatcat:kjuryszyhvd3fexpwunckwkh5a

A Computational Model of Dual Competition between the Basal Ganglia and the Cortex

Meropi Topalidou, Daisuke Kase, Thomas Boraud, Nicolas P. Rougier
2018 eNeuro  
We show how this dual competition endows the model with two regimes. One is driven by reinforcement learning and the other by Hebbian learning.  ...  The final decision is made according to a combination of these two mechanisms with a gradual transfer from the former to the latter.  ...  The result of the dual competition is a faster selection of one of the two assemblies after learning, when there is no possibility for the two competitions to be non-congruent (one competition tends to  ... 
doi:10.1523/eneuro.0339-17.2018 pmid:30627653 pmcid:PMC6325557 fatcat:5seynge3zjgrpg725vs2nu73ni

Developing and Researching a Robotic Arm for Public Service and Industry to Highlight and Mitigate Its Inherent Technical Vulnerabilities

Florin Covaciu, Persida Bec, Doru-Laurean Băldean
2020 Proceedings (MDPI)  
The purpose of this paper is to develop, manufacture, test, and improve the robotic arm as a separate system.  ...  The present study highlights the design and testing of a robotic arm and its vulnerabilities.  ...  Thus, the components linked together in the robotic arm assembly were represented.  ... 
doi:10.3390/proceedings2020063025 fatcat:c4xswf3xkjh33plyxhmsdf4p2m

Human-Like Arm Motion Generation: A Review

Gianpaolo Gulletta, Wolfram Erlhagen, Estela Bicho
2020 Robotics  
However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation.  ...  In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning.  ...  [72] 2015 RRT-Connect [30] Assembly-like The identification of synergies in dual-arm manipulation tasks allows to run sampling-based planners on a human-like low dimensional space.  ... 
doi:10.3390/robotics9040102 fatcat:fahjlaf6hraslknxo7ifw5o4au

The Mechanical Spindle: A Replica of the Mammalian Muscle Spindle [chapter]

Pierre-Henry Marbot, Blake Hannaford
1995 Alpha and Gamma Motor Systems  
&f Abstract-The goal of the recently initiated anthroform arm project is to understand the manipulation capabilities of the human arm through the development of a dynamically accurate replica arm.  ...  This paper describes the important spindle features that we are attempting to copy, as well as the mechanical and software aspects of our first prototype.  ...  Inside the range of the strain gauges (1.5 mm), the resolution of the spindle is 3 to 9 microns. The dual, independent sensor assembly permits velocity estimation.  ... 
doi:10.1007/978-1-4615-1935-5_71 fatcat:uwu7x4pdtjehricjtuv5ncr6mi

Learning from Demonstration for Hydraulic Manipulators

Markku Suomalainen, Janne Koivumaki, Santeri Lampinen, Ville Kyrki, Jouni Mattila
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Thus with this proposed compliance transfer, LMC can be used to learn and perform an efficient dual-arm assembly task.  ...  In Section 7.4 we then analyse the results. 93 Compliance in Dual-arm Peg-In-Hole Learning from Demonstration and assembly with two arms One of the first works in LfD for dual-arm robots was presented  ... 
doi:10.1109/iros.2018.8594285 dblp:conf/iros/SuomalainenKLKM18 fatcat:lb6be3llrjfmpmnwqbsirioine

A Survey of Space Robotic Technologies for On-Orbit Assembly

Delun Li, Lou Zhong, Wei Zhu, Zhipeng Xu, Qirong Tang, Wenhao Zhan
2022 Space Science & Technology  
It is one of important development tendency, which aims to make full use of space robots to assemble space structures autonomously in the aerospace industry.  ...  Finally, it looks forward to the future research direction of space machine on-orbit assembly.  ...  Meanwhile, this work is also partially supported by the Fundamental Research Funds for the Central Universities and the "National High Level Talent Plan" project.  ... 
doi:10.34133/2022/9849170 fatcat:4r4s7v3earehjmhpserwu7ges4

Lessons learned using the insertable robotic effector platform (IREP) for single port access surgery

N. Simaan, A. Bajo, A. Reiter, Long Wang, P. Allen, D. Fowler
2013 Journal of Robotic Surgery  
It deploys two surgical arms and a third arm manipulating a stereo-vision module that tracks instrument location.  ...  [2] presented a 9 DoF [22 mm dual-arm robot. Lehman et al.  ...  The IREP also provides a controllable distance between the bases of its dexterous surgical arms to increase kinematic dexterity and dual-arm triangulation. Ding et al.  ... 
doi:10.1007/s11701-013-0400-9 pmid:27000919 fatcat:g42vfykixzajjdv26av3i37ucu

Virtualization for Cost-Effective Teaching of Assembly Language Programming

Jose O. Cadenas, R. Simon Sherratt, Des Howlett, Chris G. Guy, Karsten O. Lundqvist
2015 IEEE Transactions on Education  
A virtual system that emulates an ARM-based processor machine has been created to replace a traditional hardwarebased system for teaching assembly language.  ...  No software licenses or extra hardware are required to use the virtual system, thus students are free to carry their own ARM emulator with them on a USB memory stick.  ...  of assembly language for ARM processors.  ... 
doi:10.1109/te.2015.2405895 fatcat:ixuhdgxpsndkblih63m2ldbdam
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