A solution for the cap unscrewing task with a dual arm sensor-based system

In this work, a multi-sensor controller to open recipients with screwed caps is presented. A humanoid torso is used to perform the task, first grabbing and holding the target object with one hand and then removing the cap with the other hand. The approach consists of a global controller composed of several modules: object segmentation, grasp synthesis, grasp execution and cap unscrew controller. The paper principally focuses in the novel reactive unscrew controller which uses several contact sensors to correct and adapt to the different scenarios. The approach is validated by performing several tests over a set of eight different objects and performance results are presented.