Dynamic and Bimanual Manipulation with F/T Feedback for Entangled Wire Harnesses

In this paper, we deploy a dual-arm robot that can grasp, extract and disentangle wire harnesses from dense clutter using dynamic manipulationDynamic manipulationBinamual. The robot can swingDynamicsswing to dynamically discard the entangledEntangled objects and regrasp to adjust the undesirable grasp pose. To improve the robustness and accuracy of the system, we leverage a closed-loopClosed-loopForce feedback framework that uses haptic feedback to detect entanglement in real time and flexibly adjust system parameters. Our bin-picking system achieves an overall success rate of 91.2% in real-world experiments using two different types of long wire harnesses. It demonstrates the effectiveness of our system in handling various wire harnesses for industrial bin picking. Supplementary videos and illustrations can be found at https://xinyiz0931.github.io/dynamic .