As people further develop space with advanced technology, space robots have played a significant role in on-orbit servicing missions. Space robots can carry out more risky and complicated missions with less cost than astronauts. Dual-arm space robots...
Collision safety is an essential issue for dual-arm nursing-care robots. However, for coordinating operations, there is no suitable method to synchronously avoid collisions between two arms (self-collision) and collisions between an arm and the envir...
Robotic harvesting has become an urgent need for the development of the apple industry, due to the sharp decline in agricultural labor. At present, harvesting apples using robots in unstructured orchard environments remains a significant challenge. T...
Collaborative control of a dual-arm robot refers to collision avoidance and working together to accomplish a task. To prevent the collision of two arms, the control strategy of a robot arm needs to avoid competition and to cooperate with the other on...
Aiming to address challenges in the motion coordination of dual-arm robot engineering applications, a comprehensive set of planning methods is devised. This paper takes a dual-arm system composed of two six-degrees-of-freedom industrial robots as the...
The continued growth in life sciences is being accompanied by the constantly rising demand for robotic systems. Today, bioscreening and high–throughput screening processes are well automated. In contrast, a deficit can be found in the area of a...
In the future of automated production processes, the manipulator must be more efficient to complete certain tasks. Compared to single-arm robots, dual-arm robots have a larger workspace and stronger load capacity. Coordinated motion planning of multi...
Robotic harvesters have the potential to substantially reduce the physical workload of agricultural laborers. However, in complex agricultural environments, traditional single-arm robot path planning methods often struggle to accomplish fruit harvest...
In recent years, the utilization of dual-arm robots has gained substantial prominence across various industries owing to their collaborative operational capabilities. In order to achieve collision avoidance and facilitate cooperative task completion,...
There is an unbalanced problem in the traditional laneway excavation process for coal mining because the laneway excavation and support are at the same position in space but they are separated in time, consequently leading to problems of low efficien...
There is a strong coupling between two arms in cooperative operations of dual-arm robots. To enhance the coordination and cooperation ability of dual-arm robots, a force-closure-based weighted hybrid force/position fuzzy coordination control method i...
With the increasing demand for space missions, space robots have become the focus of research and attention. As a typical representative, the free-floating dual-arm space robot has the characteristics of multiple degrees of freedom, a floating base,...
This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behav...
The burgeoning complexity of space missions has amplified the research focus on robots that are capable of assisting astronauts in accomplishing tasks within space stations. Nevertheless, these robots grapple with substantial mobility challenges in a...
This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since t...
In robot grinding tasks, dual manipulators possess improved flexibility, which can cooperate to complete different tasks with higher efficiency and satisfactory effect. In collaborative robot grinding tasks, the critical issues lie in the motion traj...
Trajectory planning and avoidance of tipping are the main keys to success in the mobile dual-arm manipulation, especially when the dual-arm or moving platform is running fast. The forces and moments between wheel-terrain and body-arm have been analyz...
Although robots have been widely used in a variety of fields, the idea of enabling them to perform multiple tasks in the same way that humans do remains a difficulty. To solve this, we investigate the learning from demonstration (LFD) system with our...
During the assembly of mechanical systems, the dual-arm robot is always used for cabin docking. In order to ensure the accuracy and reliability of cabin docking, a multi-objective trajectory planning method for the dual-arm robot was proposed. A kine...
The impedance control of a dual-arm space robot in orbit auxiliary docking operation is studied. First, for the closed-chain hybrid system formed by the dual-arm space robot after capture operation, the dynamic equation of position uncontrolled and a...
In recent years, dual-arm robots have been favored in various industries due to their excellent coordinated operability. One of the focused areas of study on dual-arm robots is obstacle avoidance, namely path planning. Among the existing path plannin...
When a lunar assisted robot helps an astronaut turn over or transports the astronaut from the ground, the trajectory of the robot’s dual arms should be automatically planned according to the unstructured environment on the lunar surface. In thi...
This work proposes an online task-scheduling method using mixed-integer programming for a multi-tasking problem regarding a dual-arm cooking robot in a controlled environment. Given each task’s processing time, their location in the working spa...
Equipped with one degree of freedom in one-dimensional translation of the base, a mobile dual-arm robot (MDAR) is proposed in this paper, and the two arms and the base move simultaneously. As a result, the motion of the base has a significant influen...
The integration of digital twin technology with robotic automation holds significant promise for advancing sustainable horticulture in controlled environment agriculture. This article presents DigiHortiRobot, a novel AI-driven digital twin architectu...
Intermittent stop–move motion planning is essential for optimizing the efficiency of harvesting robots in greenhouse settings. Addressing issues like frequent stops, missed targets, and uneven task allocation, this study introduced a novel inte...
Task-oriented grasp planning poses complex challenges in modern robotics, requiring the precise determination of the grasping pose of a robotic arm to grasp objects with a high level of manipulability while avoiding hardware constraints, such as join...
Landscape maintenance is essential for ensuring agricultural productivity, promoting sustainable land use, and preserving soil and ecosystem health. Pruning is a labor-intensive task among landscaping applications that often involves repetitive pruni...
In this article, the trajectory planning of the two manipulators of the dual-arm robot is studied to approach the patient in a complex environment with deep reinforcement learning algorithms. The shape of the human body and bed is complex which may l...
In the field of orchard harvesting, this study proposes a collaborative picking strategy for dual-arm robots, aiming to improve efficiency, reduce labor burden, and achieve precise automation. The strategy combines the Multi-Agent Proximal Policy Opt...
To address the obstacle-avoidance path-planning requirements of dual-arm robots operating in complex environments, such as chemical laboratories and biomedical workstations, this paper proposes ODSN-RRT (optimization-direction-step-node RRT), an effi...
Traditional Chinese Bone-setting (TCB) involves complex movements and force feedback, which are critical for effective fracture reduction. However, its practice necessitates the collaboration of highly experienced surgeons, and the availability of ex...
As the manipulation object of a patient transfer robot is a human, which can be considered a complex and time-varying system, motion adjustment of a patient transfer robot is inevitable and essential for ensuring patient safety and comfort. This pape...
Compared with a single discrete or serpentine arm, the discrete-serpentine heterogeneous dual-arm space robot (DSHDASR) combines the advantages of both kinds of arms, enabling it to perform complex on-orbit missions. The structural complexity of DSHD...
Humanoid robots often struggle with tasks such as lifting objects due to the complexity involved in identifying contact points, applying the correct force, and tracking task progress. We propose an integrated solution that leverages the dual-arm capa...
Dual-arm robots are expected to perform work in a dynamic environment. One of the most basic tasks that a dual-arm robot does is pick-and-place work. However, this work is more complicated when there are several objects in the robot’s workspace. Addi...
To meet the high-accuracy position/force control requirements of dual-arm robots for handling a target object, a control algorithm for dual-arm robots based on the modified sliding mode impedance controller MSMIC(tanh) is proposed. First, the combina...
Unlike the conventional robotic arm where the joints are coupled to each other, this paper proposes a position and posture decoupling method to mechanically correct the end position of the robotic arm in real time through dual-motion transmission, wh...
In situ repair and maintenance of high-value industrial equipment is critical if they are to maintain the ability to continue vital operations. Conventional single-arm continuum robots have been proven numerous times to be successful tools for use in...
Future humanoid robots will be widely deployed in our daily lives. Motion planning and control in an unstructured, confined, and human-centered environment utilizing dexterity and a cooperative ability of dual-arm robots is still an open issue. We pr...
As gestures play an important role in human communication, there have been a number of service robots equipped with a pair of human-like arms for gesture-based human–robot interactions. However, the arms of most human companion robots are limit...
Wire harness manufacturing in the aeronautic sector is highly manual work, with production defined by multiple references and small batches. Although complete automation of the production process is not feasible, a robot-assisted approach could incre...
To achieve robust and accurate collaborative 3D measurement under complex noise conditions, a global calibration method for dual-arm hand–eye systems and multi-view 3D imaging is proposed. A multi-view 3D scanning approach based on ICP (M3DHE-I...
Path planning for picking safflowers is a key component in ensuring the efficient operation of robotic safflower-picking systems. However, existing single-arm picking devices have become a bottleneck due to their limited operating range, and a breakt...
Assembly tasks executed by a robot have been studied broadly. Robot assembly applications in industry are achievable by a well-structured environment, where the parts to be assembled are located in the working space by fixtures. Recent changes in man...
The aim of the study is a multi-criteria comparative evaluation of robots cooperating with humans in single- and dual-arm variants used for the process of precise assembly of complex parts. RobotStudio simulation software with the Signal Analyzer add...
Robotic systems are crucial in modern manufacturing. Complex assembly tasks require the collaboration of multiple robots. Their orchestration is challenging due to tight tolerances and precision requirements. In this work, we set up two Franka Panda...
This paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators. Each soft manipulator is composed of three soft modules, and each module includes...
Fabric flattening is a critical pre-processing step for automated garment manufacturing. Most existing approaches employ single-arm robotic systems that act at a single contact point. Due to the nonlinear and deformable dynamics of fabric, such syste...
This paper presents the development of a visual-perception system on a dual-arm mobile robot for human-robot interaction. This visual system integrates three subsystems. Hand gesture recognition is utilized to trigger human-robot interaction. Engagem...
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