Dual-arm robot box taping with kinesthetic teaching

Abstract

Recent advances in anthropomorphic, and dual-arm robots have led to an increased interest in bimanual manipulation. One of the advantages of bimaual manipulation is the feasibility to transfer human tasks into the robot, which robots can operate in either domestic or industrial settings. Although dual-arm robot resembles human fixture, high level planning for specific task is necessary to operate the robot. In this paper, bimanual manipulation with dual-arm robot in industrial setting is introduced and application of kinesthetic teaching in box taping process is described.