1. A shared-control method for effective bimanual robot manipulation.
A shared-control method for effective bimanual robot manipulation. (A) We constructed a motion dataset of people performing two-handed tasks and (B) extracted high-level kinematic patterns from the data to build a compact and lightweight bimanual action vocabulary that sufficiently spans the space of two-handed actions. (C) While the user is controlling the robot, (D) the method infers which action from the bimanual action vocabulary is most likely being specified by the user and (E) engages an appropriate assistance mode (F) to help during the respective bimanual action.
Daniel Rakita et al. Sci. Robotics 2019;4:eaaw0955
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