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The Centauro robot. The main components of the upper-body are labeled.

The Centauro robot. The main components of the upper-body are labeled.

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Fig. 1. The Centauro robot performing bimanual grasping of a novel...
Fig. 2. The Centauro robot. The main components of the upper-body are...
Fig. 5. Comparison of the trajectories obtained with/without kinematic...
Fig. 7. Error between desired and observed end-effectors relative pose...
+1 Fig. 8. Dual-arm trajectory for reaching pre-grasp poses. Yellow:...
Autonomous Dual-Arm Manipulation of Familiar Objects
Preprint
Full-text available
  • Nov 2018
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with different shapes and appearances that have to be grasped in a very specific manner so they can be functionall...
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... each. The right arm possesses a SVH Schunk hand as an end-effector, while the left arm is equipped with a Heri hand [17]. The sensor head has a Velodyne Puck rotating laser scanner with spherical field of view as well as multiple cameras. In addition, a Kinect v2 [18] is mounted on the upper part of the chest. The Centauro robot is depicted in Fig. ...
Context 2
... each. The right arm possesses a SVH Schunk hand as an end-effector, while the left arm is equipped with a Heri hand [17]. The sensor head has a Velodyne Puck rotating laser scanner with spherical field of view as well as multiple cameras. In addition, a Kinect v2 [18] is mounted on the upper part of the chest. The Centauro robot is depicted in Fig. ...

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