Load Equalization on a Two-Armed Robot via Proprioceptive Sensing

  • Roxana Leontie
  • Evan Drumwright
  • Dylan A. Shell
  • Rahul Simha
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 88)


As humans we use our arms and bodies in addition to our hands to grasp objects. We (and robots) often cannot use caging or closure strategies when manipulating bulky objects. This paper studies manipulating such objects in the context of a particular task: equalizing a load across the arms of a two-armed robot. Our PR2 robot performs this task using only proprioceptive force sensing and a simple, reactive equalization strategy.We demonstrate the robot robustly performing this task using numerous and various objects (e.g., boxes, pipes, broomsticks, backpacks).


Load Equalization Motor Torque State Transition Diagram Evaluate State Support Polygon 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  • Roxana Leontie
    • 1
  • Evan Drumwright
    • 1
  • Dylan A. Shell
    • 2
  • Rahul Simha
    • 1
  1. 1.The George Washington UniversityWashingtonUSA
  2. 2.Texas A&M UniversityCollege StationUSA

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