Rastegarpanah, Alireza;
(2017)
Autonomous vision-guided bi-manual grasping and manipulation.
In:
Proceedings of Advanced Robotics and its Social Impacts (ARSO).
IEEE Xplore: Austin, TX, USA.
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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.
Type: | Proceedings paper |
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Title: | Autonomous vision-guided bi-manual grasping and manipulation |
Event: | IEEE International Workshop on Advanced Robotics 2017 |
Location: | Austin, Austin, TX, USA |
Dates: | 08 March 2017 - 10 March 2017 |
ISBN-13: | 9781509004768 |
Open access status: | An open access version is available from UCL Discovery |
DOI: | 10.1109/ARSO.2017.8025192 |
Publisher version: | http://ieeexplore.ieee.org/document/8025192/ |
Language: | English |
Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
UCL classification: | UCL UCL > Provost and Vice Provost Offices UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences |
URI: | https://discovery.ucl.ac.uk/id/eprint/10037535 |
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