Cooperation and task execution of an anthropomorphous two-armed robot: An application to coffee making

This paper presents techniques for cooperation and task execution of an anthropomorphous two-armed robot with two seven degrees of freedom arms. An inverse kinematic solver is proposed to find all joint angles for given postures of two effectors on both arms. Any task can always be separated into many sub-tasks, in which some sub-tasks may have the same action. For executions of these sub-task can be realized by composition of the motion processes. In particular, this paper will emphasize on the description of the task regarding how to coffee making via two-armed cooperation, because this task requires various motion. Experimental results are conducted for illustration of effectiveness of the proposed methods.