Article

Which Hand Was Late? Diagnosis for Robot Failure Recovery in Bimanual Tool Use

The study measures, on a simulated bimanual tool-use task, which failure causes each sensing channel lets a diagnoser identify: a tool slipping out of its socket can be read on the tool-hand side; which hand was late requires information from both arms, while a sensor on one hand can only read that hand's own delay and part of the other hand's delay; and when the tool hand is late, passive sensing cannot determine whether the push force was also insufficient.

Part of the event: Diagnosing Failures in Dual-Arm Tool Use

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