Dexterous Manipulation Graph paper demonstrates dual-arm regrasping on ABB YuMi
Evidence notes
- The paper introduces Dexterous Manipulation Graphs for planning in-hand manipulation and regrasping with parallel grippers.
- The authors execute coordinated pushing and regrasping sequences on an ABB YuMi dual-arm robot.
- It adds a concrete YuMi research example for dexterous bimanual manipulation rather than simple pick-and-place.
Company context
ABB is a publicly listed electrification and automation group. It currently owns ABB Robotics, whose signed sale to SoftBank remains pending, while Machine Automation continues inside ABB's Automation business.