Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control

@article{Wen2022CollaborativeBM,
  title={Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control},
  author={Ruoshi Wen and Quentin Rouxel and Michael N. Mistry and Zhibin Li and Carlo Tiseo},
  journal={ArXiv},
  year={2022},
  volume={abs/2206.00528}
}
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to retarget arbitrary commands from multiple human operators into feasible control references. The collaborative manipulation framework has three main modules: (1) contact force modulation for compliant physical interactions with objects via admittance control; (2… 

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