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espanolLas tareas de manipulacion de objetos, en ocasiones, requieren hacer uso de dos o mas robots cooperando. En la industria 4.0 cada vez es mas demandada la robotica asistencial por ejemplo para llevar a cabo tareas como levantar, arrastrar o empujar un bulto/paquete de elevado peso y/o de ciertas dimensiones. Por lo que cada vez es mas frecuente encontrar robots con forma humana destinados a ayudar al operario humano en actividades en las que se dan este tipo de movimientos. En este articulo se presenta una plataforma robotica asistida por vision para llevar a cabo tare- as de agarre y manipulacion bimanual de objetos. La plataforma robotica consta de un torso metalico con articulacion rotacional en la cadera y de dos manipuladores industriales, de 7 grados de libertad, que actuan como brazos y que a su vez montan en sus extremos sendas manos roboticas multidedo. Cada una de las extremidades superiores esta dotada de percepcion visual, ya que hacen uso de 2 sensores RGBD ubicados en configuracion eye-to-hand. La plataforma ha sido empleada y testeada con exito para llevar a cabo agarres bimanuales de objetos en aras de poder desarrollar tareas de manipulacion cooperativa de manera coordinada entre ambas extremidades. EnglishManipulation tasks of objects, sometimes, requires the use of two or more cooperating robots. In the industry 4.0, assistance robotic is being more and more demanded, for example, to carry out tasks such as lifting, dragging or pushing of both heavy and big packages. Consequently, it is possible to find robots with human appearance addressed on helping human operators in activities in which these types of movements occur. In this article, a vision-assisted robotic platform is presented to carry out both grasping tasks and bimanual manipulation of objects. The robotic platform consists of a metallic torso with rotational joint at the hip and two industrial manipulators, with 7 degrees of freedom, which act as arms. Each arm mounts a multi-finger robotic hand at the end. Each of the upper extremities use visual perception from 3 RGBD sensors located in an eye-to-hand configuration. The platform has been successfully used and tested to carry out bi- manual object grasping in order to develop cooperative manipulation tasks in a coordinated way between both robotic extremities

Agarre bimanual de objetos asistido por visión