We have developed a method for haptic programming of dual-arm robots such as the ABB YuMi. To intuitively instruct force-based motions, the operator uses one arm as a haptic joystick for guiding the other while capturing the intended motion command. The arms are coupled in a master-slave mode where the operator moves the master arm in a desired motion that the slave arm imitates.
Our method estimates the contact forces on the slave arm and transfer the forces to the master arm so that the operator senses them. This method complements the traditional lead-through because it lets the operator teach the robot what forces it should apply to parts in the work cell and also scale the motions for instruction of precise manipulation.