YuMi redundancy-parameterization paper validates arm-angle kinematics - 2025-05-29 - Research Publication - The paper defines and validates the Shoulder-Elbow-Wrist angle used by the 7-DOF ABB YuMi arm. It supplies the SEW-angle Jacobian, singularity conditions, and IK-Geo examples for finding all inverse-kinematics solutions.… - source: arxiv.org
Singularities of ABB’s YuMi 7-DOF robot arm - 2025-03-01 - Research Publication - The Mechanism and Machine Theory paper studies singularities of ABB’s YuMi 7-DOF robot arm. The study’s named evaluation platform is YuMi (IRB 14000 Dual-arm) from ABB. - source: doi.org
Cuspidal-manipulator path-planning paper identifies ABB GoFa kinematic behavior - 2025-01-30 - Research Publication - The paper studies path planning for cuspidal 6R manipulators, where inverse-kinematics branch choices can make a task-space path infeasible. The authors identify ABB GoFa as cuspidal and propose graph-based planning over… - source: arxiv.org
X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions - 2020-04-20 - Research Publication - For applications in e-commerce, warehouses, healthcare, and home service, robots are often required to search through heaps of objects to grasp a specific target object. YuMi (IRB 14000 Dual-arm) is used in the study's… - source: arxiv.org
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics - 2020-03-28 - Research Publication - Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. YuMi (IRB 14000 Dual-arm) is the evaluation platform used to test the method… - source: arxiv.org
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data - 2020-03-03 - Research Publication - Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. YuMi (IRB 14000 Dual-arm) is the hardware… - source: arxiv.org
Tactile Dexterity: Manipulation Primitives with Tactile Feedback - 2020-02-08 - Research Publication - This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions… - source: arxiv.org
Bayesian Optimization in Variational Latent Spaces with Dynamic Compression - 2019-07-10 - Research Publication - Data-efficiency is crucial for autonomous robots to adapt to new tasks and environments. In this work we focus on robotics problems with a budget of only 10-20 trials. YuMi (IRB 14000 Dual-arm) is the evaluation platform… - source: arxiv.org
Dexterous Manipulation Graph paper demonstrates dual-arm regrasping on ABB YuMi - 2019-04-25 - Research Publication - 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… - source: arxiv.org
Neural Network Model for Identifying Workspace, Forward and Inverse Kinematics of the 7-DOF YuMi 14000 ABB Collaborative Robot - 2019-01-01 - Research Publication - The IFAC paper models workspace and kinematics for the ABB YuMi 14000 collaborative robot. The study’s named evaluation platform is YuMi (IRB 14000 Dual-arm) from ABB. - source: doi.org
Global Search with Bernoulli Alternation Kernel for Task-oriented Grasping Informed by Simulation - 2018-10-10 - Research Publication - We develop an approach that benefits from large simulated datasets and takes full advantage of the limited online data that is most relevant. YuMi (IRB 14000 Dual-arm) is used in the study's data-collection or experimental… - source: arxiv.org
Dex-Net 3.0: Computing Robust Robot Vacuum Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning - 2017-09-19 - Research Publication - Vacuum-based end effectors are widely used in industry and are often preferred over parallel-jaw and multifinger grippers due to their ability to lift objects with a single point of contact. YuMi (IRB 14000 Dual-arm) is… - source: arxiv.org
Dual quaternion based kinematic control for Yumi dual arm robot - 2017-06-01 - Research Publication - The URAI paper presents dual-quaternion kinematic control for the YuMi dual-arm robot. The study’s named evaluation platform is YuMi (IRB 14000 Dual-arm) from ABB. - source: doi.org
Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics - 2017-03-27 - Research Publication - To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6. 7 million point clouds, grasps, and analytic grasp metrics generated from thousands of 3D… - source: arxiv.org