A bimanual robotic teleoperation architecture with anthropomorphic hybrid grippers for unstructured manipulation tasks

• Main Authors: Zhu, Guoniu, Xiao, Xiao, Li, Changsheng, Ma, Jin, Ponraj, Godwin, Prituja, A. V., Ren, Hongliang
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering; Robotic Teleoperation; Bimanual Manipulation
• Online Access: https://hdl.handle.net/10356/146190
• Institution: Nanyang Technological University

Bimanual telemanipulation is vital for facilitating robots to complete complex and dexterous tasks that involve two handheld objects under teleoperation scenarios. However, the bimanual configuration introduces higher complexity, dynamics, and uncertainty, especially in those uncontrolled and unstru...