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Advanced Bimanual Manipulation

Borst, Christoph and Zacharias, Franziska and Schmidt, Florian and Leidner, Daniel and Roa, Maximo A. and Hertkorn, Katharina and Grunwald, Gerhard and Falco, Pietro and Natale, Ciro and Maggio, Emilio (2012) Advanced Bimanual Manipulation. In: springer tracts in advanced robotics , 80. Springer, Berlin Heidelberg. pp. 59-122. ISBN 978-3-642-29040-4 . ISSN 1610-7438

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Official URL: http://link.springer.com/book/10.1007/978-3-642-29041-1/page/1

Abstract

Assistive robotic systems in household or industrial production environments get more and more capable of performing also complex tasks which previously only humans were able to do. As robots are often equipped with two arms and hands, similar manipulations can be executed. The robust programming of such devices with a very large number of degrees of freedom (DOFs) compared with single industrial robot arms however is laborious if done joint-wise. Two major directions to overcome this problem have been previously proposed. The programming by demonstration (PbD) approach, where human arm and recently also hand motions are tracked, segmented and re-executed in an adaptive way on the robotic system and the high-level planning approach which tries to generate a task sequence on a logical level and attributes geometric information as necessary to generate artificial trajectories to solve the task. Here we propose to combine the best of both worlds. For the very complex motion generation for a robotic hand, a rather direct approach to assign manipulation actions from human demonstration to a human hand is taken. For the combination of different basic manipulation actions the task constraints are segmented from the demonstration action and used to generate a task oriented plan. This plan is validated against the robot kinematic and geometric constraints and then a geometric motion planner can generate the necessary robot motions to fulfill the task execution on the system.

Item URL in elib:https://elib.dlr.de/80746/
Document Type:Book Section
Title:Advanced Bimanual Manipulation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Zacharias, Franziska Franziska.Zacharias (at) dlr.deUNSPECIFIED
Schmidt, FlorianFlorian.Schmidt (at) dlr.deUNSPECIFIED
Leidner, DanielDaniel.Leidner (at) dlr.deUNSPECIFIED
Roa, Maximo A.maximo.roagarzon (at) dlr.deUNSPECIFIED
Hertkorn, KatharinaKatharina.Hertkorn (at) dlr.deUNSPECIFIED
Grunwald, GerhardGerhard.Grunwald (at) dlr.deUNSPECIFIED
Falco, PietroSeconda Università degli Studi di Napoli UNSPECIFIED
Natale, CiroSeconda Università degli Studi di Napoli UNSPECIFIED
Maggio, EmilioOxford Metrics GroupUNSPECIFIED
Date:2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:80
Page Range:pp. 59-122
Editors:
EditorsEmail
Siciliano, BrunoUNSPECIFIED
Publisher:Springer, Berlin Heidelberg
Series Name:springer tracts in advanced robotics
ISSN:1610-7438
ISBN:978-3-642-29040-4
Status:Published
Keywords:Bimanual Manipulation, Human Observation, Grasping, Task Planning, DEXMART Project
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Wimmer, Monika
Deposited On:22 Jan 2013 15:49
Last Modified:13 Jul 2016 17:28

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