2A1-H08 A Study of Beverage Can Manipulation by Dual-arm Cooperated Operation : The first report: Analysis of can opening operation by cooperated dual-arm(Robots for Home/Office Application)

Abstract

The purpose of this study is to execute can opening operation by dual-arm robot with cooperated operation. We analyzed the human's operation and generated can opening trajectories for cooperated two arms. We experimented based on the acquired trajectories, and achieved the can opening operation by dual-arm robot. We also compared the motion of single-arm and dual-arm for beverage can opening operation, and found out that these two arm's motions themselves were different, but the operation to the beverage can is essentially the same.