Visual servoing for dual arm motions on a humanoid robot

Abstract

In this work we present a visual servoing approach that enables a humanoid robot to robustly execute dual arm grasping and manipulation tasks. Therefore the target object(s) and both hands are tracked alternately and a combined open-/ closed-loop controller is used for positioning the hands with respect to the target(s). We address the perception system and how the observable workspace can be increased by using an active vision system on a humanoid head. Furthermore a control framework for reactive positioning of both hands using position based visual servoing is presented, where the sensor data streams coming from the vision system, the joint encoders and the force/torque sensors are fused and joint velocity values are generated. This framework can be used for bimanual grasping as well as for two handed manipulations which is demonstrated with the humanoid robot Armar-Hl that executes grasping and manipulation tasks in a kitchen environment.978-1-4244-4588-2/09/$25.00 ©20091EEE

Dual arm manipulation—A survey

“…Loading and unloading a dishwasher with the anthropomorphic robot ARMAR-III has been described in [22,125]. In [99] the work is extended with a visual servoing controller for dual arm grasping and manipulation tasks. The control framework allows it to track multiple targets.…”

“…Within this context, the anthropomorphic robot ARMAR-III has been used to perform grasping of objects considering the possible configurations of both the left or the right arm [98]. The same platform has been used in [99] to demonstrate a position-based visual servoing controller for dual arm grasping and manipulation tasks. Furthermore, [92] also uses a position-based visual servoing scheme for the control of two robot manipulators, and [19] uses the end-effector mounted camera on each arm to allign the parts held by each hand to perform an assembly task.…”

Fast position and posture control of an anthropomorphous 7 DOF dual-arm mobile robot

“…Zhao [12], Tolani et al [13], Lee and Shin [14] proposed different kinds of inverse kinematics algorithms by combining analytical methods and optimization techniques. Moreover, Vahrenkamp et al [15] investigated path planning and visual servoing for dual arm motions on a humanoid robot. Tsai et al [16] proposed an analytical IK method for a 7-DOF anthropomorphous arm, and the authors in [17] also studied the inverse kinematics problem using an inverse Jacobian matrix approach.…”

A redundancy based control law for executing a coordinated vision-based task using a dual arm robotic system

“…Although it offers nice properties (possibility of using several cameras [6], good robustness with respect to modelling errors [7]), to the best of our knowledge, there are only few works which have used it for dual arm manipulation [1]. We may nonetheless mention the works by Miyabe [8], Hynes [9], Zereik [10] and Vahrenkamp [11] where this control approach is used to grasp an object with one or both arms [8], [10], [11] or tie surgical nodes [9]. However, in these works, the arms are separately or alternatively controlled, which means that the coordination problem is not really addressed.…”