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 Damien Sallé 2
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : 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.
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Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini, et al.. Dual-arm relative tasks performance using sparse kinematic control. IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.6003-6008, ⟨10.1109/IROS.2018.8594320⟩. ⟨hal-01735462v2⟩

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