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Dual arm 

  In videos we show some basic functions of a robot arm which is capable of learning and imitating,cooperating with people. Then the dual arm show its manipulation using the open loop trajectory. With the proposed three-stage control strategy, the dual-arm can deal with control error, external force disturbance, and weight variation. By examining the friction force, we can easily see the difference compared with the open loop control.

Teaching & Imitation

After teaching the arm, it can draw the same picture on its own. 

Cooperation

The single arm can cooperate with people moving the box.

Helix

The arm can follow difficult trajectories.

Open loop trajectory control

The dual-arm manipulates the object 

Disturbance rejection

The dual-arm can detect slipping and avoid it.

Weight variation

The dual-arm use adequate normal force to hold the box.

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