{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/120461"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/120461","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Context-aware perception and manipulation strategies for PAPRAS dual-arm stand system in real-world scenarios","abstract":"Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-05-01","abstract_html":"Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-05-01","abstract_has_math":false,"creators":["Shin, Kazuki"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Kim, Joohyung"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2023,"date_issued":"2023-05","date_published":"2023-05","updated_at":"2026-07-22T22:24:57Z","subjects":["Dual-arm Robotics","Autonomous Door-opening","Context-specific Manipulation","Motion Retargeting"],"languages":["en","eng"],"rights":["Copyright 2023 Kazuki Shin"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/120461","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Kim, Joohyung"]},{"key":"dc:creator","label":"Author","values":["Shin, Kazuki"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2023-05","2023-05-04"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Dual-arm Robotics","Autonomous Door-opening","Context-specific Manipulation","Motion Retargeting"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2023 Kazuki Shin"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/120461"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-05-01","The student, Kazuki Shin, accepted the attached license on 2023-05-03 at 16:21.","The student, Kazuki Shin, submitted this Thesis for approval on 2023-05-03 at 17:59.","This Thesis was approved for publication on 2023-05-04 at 10:00.","DSpace SAF Submission Ingestion Package generated from Vireo submission #19325 on 2023-09-01 at 17:16:01","Dual-arm robotic systems hold immense potential for performing complex bimanual operations in human-centric environments. However, to fully leverage their capabilities, advanced perception and manipulation strategies tailored to address system constraints and dynamic conditions are crucial. This thesis presents the development and evaluation of context-specific perception and manipulation strategies for the Plug-And-Play-Robotic-Arm-System (PAPRAS) dual-arm stand system. The research is centered on enhancing the adaptability and effectiveness of the system in performing real-world interaction tasks, while considering the specific hardware constraints and requirements of the platform. To demonstrate the efficacy of the proposed approach, two key applications are explored: autonomous door opening and human-to-robot motion retargeting. These applications exemplify the need for robust perception, coordinated manipulation, and context-aware decision-making. The study integrates camera-based object recognition and localization, task-specific motion planning, and force feedback to address the challenges associated with each application. The research outcomes highlight the successful implementation of the proposed strategies, leading to improved overall performance and versatility of the PAPRAS dual-arm stand system in diverse and dynamic environments. By integrating unified perception and manipulation strategies with context-specific heuristics, this work contributes to enhancing the capabilities of dual-arm robotic systems for effective and safe human-robot interaction in various applications."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Context-aware perception and manipulation strategies for PAPRAS dual-arm stand system in real-world scenarios"]}]}],"canonical_facts":{"dc:contributor":["Kim, Joohyung"],"dc:creator":["Shin, Kazuki"],"dc:date":["2023-05","2023-05-04"],"dc:description":["Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-05-01","The student, Kazuki Shin, accepted the attached license on 2023-05-03 at 16:21.","The student, Kazuki Shin, submitted this Thesis for approval on 2023-05-03 at 17:59.","This Thesis was approved for publication on 2023-05-04 at 10:00.","DSpace SAF Submission Ingestion Package generated from Vireo submission #19325 on 2023-09-01 at 17:16:01","Dual-arm robotic systems hold immense potential for performing complex bimanual operations in human-centric environments. However, to fully leverage their capabilities, advanced perception and manipulation strategies tailored to address system constraints and dynamic conditions are crucial. This thesis presents the development and evaluation of context-specific perception and manipulation strategies for the Plug-And-Play-Robotic-Arm-System (PAPRAS) dual-arm stand system. The research is centered on enhancing the adaptability and effectiveness of the system in performing real-world interaction tasks, while considering the specific hardware constraints and requirements of the platform. To demonstrate the efficacy of the proposed approach, two key applications are explored: autonomous door opening and human-to-robot motion retargeting. These applications exemplify the need for robust perception, coordinated manipulation, and context-aware decision-making. The study integrates camera-based object recognition and localization, task-specific motion planning, and force feedback to address the challenges associated with each application. The research outcomes highlight the successful implementation of the proposed strategies, leading to improved overall performance and versatility of the PAPRAS dual-arm stand system in diverse and dynamic environments. By integrating unified perception and manipulation strategies with context-specific heuristics, this work contributes to enhancing the capabilities of dual-arm robotic systems for effective and safe human-robot interaction in various applications."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/120461"],"dc:language":["en","eng"],"dc:rights":["Copyright 2023 Kazuki Shin"],"dc:subject":["Dual-arm Robotics","Autonomous Door-opening","Context-specific Manipulation","Motion Retargeting"],"dc:title":["Context-aware perception and manipulation strategies for PAPRAS dual-arm stand system in real-world scenarios"],"dc:type":["text"],"thesis:degree_discipline":["Electrical & Computer Engr"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:24:57Z"}