Assembly approach for bimanual robots

Bimanual, or two-handed, robots can be useful for assembly tasks in unstructured environment where it is difficult to have fixtures. The assembly is planned at the task-level with assembly models using contact states and their transitions. The lower-level velocity commands are automatically derived from the task-level symbolic transitions by solving constrained optimization problem formulated with assembly constraints and positions of the workpieces. The proposed approach is evaluated with simulation of the peg-in-hole assembly with an L-shape peg, that ordinary position control scheme cannot complete