Discrete Bimanual Manipulation for Wrench Balancing
Silvia Cruciani,Diogo Almeida,Danica Kragic,Yiannis Karayiannidis,Silvia Cruciani,Diogo Almeida,Danica Kragic,Yiannis Karayiannidis
Dual-arm robots can overcome grasping force and payload limitations of a single arm by jointly grasping an object. However, if the distribution of mass of the grasped object is not even, each arm will experience different wrenches that can exceed its payload limits. In this work, we consider the problem of balancing the wrenches experienced by a dual-arm robot grasping a rigid tray. The distributi...
