论文标题
四臂合作：两个双臂机器人一起工作以操纵束缚工具
Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Maneuver Tethered Tools
论文作者
论文摘要
在本文中，我们为双臂机器人介绍了一名计划者，以通过助理双臂机器人的帮助来操纵束缚工具。助理机器人通过操纵工具电缆并避免碰撞来为主机器人提供帮助。提供的帮助使主机器人可以在机器人工作区表上执行工具位置以重新启动该工具，这通常会失败，因为工具电缆张力可能会改变工具位置。它还允许主机器人执行工具交换，这通常会在没有帮助的情况下与电缆和环境碰撞。进行仿真和现实世界实验以验证拟议的计划者。
In this paper, we present a planner for a master dual-arm robot to manipulate tethered tools with an assistant dual-arm robot's help. The assistant robot provides assistance to the master robot by manipulating the tool cable and avoiding collisions. The provided assistance allows the master robot to perform tool placements on the robot workspace table to regrasp the tool, which would typically fail since the tool cable tension may change the tool positions. It also allows the master robot to perform tool handovers, which would normally cause entanglements or collisions with the cable and the environment without the assistance. Simulations and real-world experiments are performed to validate the proposed planner.
