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A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-3252-715X
2019 (English)In: 58th IEEE Conference on Decision and Control (CDC), 2019Conference paper, Published paper (Refereed)
Abstract [en]

Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot’s end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When both types of motion are to be executed concurrently, the symmetric distribution of the relative motion between arms prevents task conflicts. Conversely, an asymmetric solution to the relative motion task will result in conflicts with the absolute task. In this work, we address the problem of designing a control law for the absolute motion task together with updating the distribution of the relative task among arms. Through a set of numerical results, we contrast our approach with the classical symmetric distribution of the relative motion task to illustrate the advantages of our method.

Place, publisher, year, edition, pages
2019.
National Category
Robotics
Research subject
Electrical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-259616OAI: oai:DiVA.org:kth-259616DiVA, id: diva2:1352523
Conference
58th IEEE Conference on Decision and Control
Note

QC 20190930

Available from: 2019-09-19 Created: 2019-09-19 Last updated: 2019-09-30Bibliographically approved

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Almeida, DiogoKarayiannidis, Yiannis
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf