Abstract
As humans we use our arms and bodies in addition to our hands to grasp objects. We (and robots) often cannot use caging or closure strategies when manipulating bulky objects. This paper studies manipulating such objects in the context of a particular task: equalizing a load across the arms of a two-armed robot. Our PR2 robot performs this task using only proprioceptive force sensing and a simple, reactive equalization strategy.We demonstrate the robot robustly performing this task using numerous and various objects (e.g., boxes, pipes, broomsticks, backpacks).
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Leontie, R., Drumwright, E., Shell, D.A., Simha, R. (2013). Load Equalization on a Two-Armed Robot via Proprioceptive Sensing. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_34
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DOI: https://doi.org/10.1007/978-3-319-00065-7_34
Publisher Name: Springer, Heidelberg
Print ISBN: 978-3-319-00064-0
Online ISBN: 978-3-319-00065-7
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