Dual-arm relative tasks performance using sparse kinematic control

Sonny Tarbouriech (1, 2) , Benjamin Navarro (1) , Philippe Fraisse (1) , André Crosnier (1) , Andrea Cherubini (1)

1 IDH - Interactive Digital Humans
2 TECNALIA France

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 standard controllers.

Domaines: Robotique [cs.RO]; Automatique / Robotique

Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini. Dual-arm relative tasks performance using sparse kinematic control. IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨hal-01735462v1⟩