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Asymmetric Dual-Arm Task Execution Using an Extended Relative Jacobian

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Robotics Research (ISRR 2019)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 20))

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Abstract

Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between end-effectors. In this work, we analyse cooperative manipulation in terms of the asymmetric resolution of relative motion tasks. We discuss how existing approaches enable the asymmetric execution of a relative motion task, and show how an asymmetric relative motion space can be defined. We leverage this result to propose an extended relative Jacobian to model the cooperative system, which allows a user to set a concrete degree of asymmetry in the task execution. This is achieved without the need for prescribing an absolute motion target. Instead, the absolute motion remains available as a functional redundancy to the system. We illustrate the properties of our proposed Jacobian through numerical simulations of a novel differential Inverse Kinematics algorithm.

This work is partially supported by the Swedish Foundation for Strategic Research project GMT14-0082 FACT.

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Notes

  1. 1.

    https://github.com/diogoalmeida/asymmetric_manipulation.

  2. 2.

    In fact, this is the case in [25].

  3. 3.

    https://github.com/diogoalmeida/asymmetric_manipulation.

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Author information

Authors and Affiliations

  1. Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, 100 44, Stockholm, Sweden

    Diogo Almeida

  2. Department of Electrical Engineering, Chalmers University of Technology, 412 96, Gothenburg, Sweden

    Yiannis Karayiannidis

Authors
  1. Diogo Almeida
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  2. Yiannis Karayiannidis
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Corresponding author

Correspondence to Diogo Almeida .

Editor information

Editors and Affiliations

  1. Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Baden-Württemberg, Germany

    Tamim Asfour

  2. Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan

    Eiichi Yoshida

  3. Seoul National University, Seoul, Korea (Republic of)

    Jaeheung Park

  4. Jacobs School of Engineering, Institute for Contextual Robotics, San Diego, CA, USA

    Henrik Christensen

  5. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

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Almeida, D., Karayiannidis, Y. (2022). Asymmetric Dual-Arm Task Execution Using an Extended Relative Jacobian. In: Asfour, T., Yoshida, E., Park, J., Christensen, H., Khatib, O. (eds) Robotics Research. ISRR 2019. Springer Proceedings in Advanced Robotics, vol 20. Springer, Cham. https://doi.org/10.1007/978-3-030-95459-8_2

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