Coordinated grasping is a fundamental feature of robotic tasks involving multiple manipulators, as in the case of cooperative transportation. To empower robots with this capability, a coordinated grasp control architecture is developed to actuate multiple parallel grippers in ROS. This scheme is validated on real pneumatic grippers, demonstrating successful coordination. Coordinated grasping is also tested in a simulated cooperative transportation task, including two Comau Smart-Six robots simultaneously picking and placing a shared object in Gazebo. The object's pose is constant throughout the task execution, proving that a realistic configuration of the simulated scene, in terms of contacts and dynamics, can ensure grasp stability.
Timeline:
0:00 Intro
0:05 Experiment: coordinated grasping
0:30 Simulation: coordinated transportation
1:03 Results
1:20 Outro
The video is related to the master thesis:
G. Romano, "Coordinated grasp control for real and simulated cooperating robots", A.Y. 2023/2024
Other theses projects: th-cam.com/play/PLuuHA_IBgGWZlKwBQFp_qGnqwS8DRBBvA.html
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