1. Dual arm pan cleaning using constraint based programming:
We applied our
new variant of Constraint Based Programming
to a dual arm robot performing a bi-manual task. The robot consists of a mobile base with two 7 DOF Schunk modular arms and is equipped with a frying pan and a brush.
2. Human robot collaboration using a virtual kinematic chain:
We enabled the PR2 robot to follow the human movement. The human movement is sensed through the force torque sensors at the wrists. The coordination between the dual-arm and the mobile base is
controlled with a
virtual kinematic chain approach.
3.Quaternion-based visual servoing using constraint based programming
for redundant manipulators
Vision based control plays an important role in
different robotic applications, e.g. surgical robotics, robotic
assembly and manipulation.
We
implemented
a quaternion based visual servoing control law
on a PR2 robot.
4. A Lissajous curve tracing task using a mobile dual-arm manipulator.
Using the
virtual kinematic chain (VKC)
approach, we control a PR2 robot to perform a trajectory tracing task whose workspace is 2m by 0.4m. In this example we use (7+7+3) DOF of the robot and the use of the VKC helps us to separate the dual-arm constraints specification from the arm-base coordination constraints specification.