This project will develop the two-hand control framework and skills for robots to perform advanced manipulation in real world home environments. Two-hand manipulation allows an increased dexterity, lifting capacity and workspace. It is imperative if we want to bring robotic manipulation closer to performing household chores and assist people in their everyday lives.
- Design control algorithms for two-hand manipulation tasks based on the operational space approach.
- Develop a library of compliant motion primitives and skills for robust two-hand manipulation.
- Optional: Demonstration of the capabilities on a mobile platform (subject to approval for adequatebudget).