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In this paper, we present a planner for a master dual-arm robot to manipulatetethered tools with an assistant dual-arm robot's help. The assistant robotprovides assistance to the master robot by manipulating the tool cable andavoiding collisions. The provided assistance allows the master robot to performtool placements on the robot workspace table to regrasp the tool, which wouldtypically fail since the tool cable tension may change the tool positions. Italso allows the master robot to perform tool handovers, which would normallycause entanglements or collisions with the cable and the environment withoutthe assistance. Simulations and real-world experiments are performed tovalidate the proposed planner.

Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Maneuver Tethered Tools