Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control

@article{Tarbouriech2018DualArmRT,
  title={Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control},
  author={Sonny Tarbouriech and Benjamin Navarro and Philippe Fraisse and Andr{\'e} Crosnier and Andrea Cherubini and Damien Sall{\'e}},
  journal={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2018},
  pages={6003-6009}
}
To make production lines more flexible, dual-arm robots are good candidates to be deployed in autonomous assembly units. In this paper, we propose a sparse kinematic control strategy, that minimizes the number of joints actuated for a coordinated task between two arms. The control strategy is based on a hierarchical sparse QP architecture. We present experimental results that highlight the capability of this architecture to produce sparser motions (for an assembly task) than those obtained with… CONTINUE READING

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