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Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control: Retargeting Human Commands to Feasible Robot Control References

December 12, 2024 by Ruoshi Wen, Quentin Rouxel, Michael Mistry, Zhibin Li, Carlo Tiseo

This paper presents a robust and reliable humanrobot collaboration framework for bimanual manipulation. We propose an optimal motion adaptation method to retarget arbitrary human commands to feasible robot pose references while maintaining payload stability. The framework comprises three modules: (1) Task-Space Sequential Equilibrium and Inverse Kinematics Optimization for retargeting human commands and enforcing feasibility constraints, (2) an admittance controller to facilitate compliant human-robot physical interactions, and (3) a low-level controller improving stability during physical interactions. Experimental results show that the proposed framework successfully adapted infeasible and dangerous human commands into continuous motions within safe boundaries, and achieved stable grasping and maneuvering of large and heavy objects on a real dual-arm robot via teleoperation and physical interaction. Furthermore, the framework demonstrated the capability in the assembly task of building blocks and the insertion task of industrial power connectors.

For more about this article see link below.

https://ieeexplore.ieee.org/document/10125577

For the open access PDF link of this article please click here.

Filed Under: Past Features Tagged With: Admittance, Collaboration, Impedance, Robot kinematics, Robots, Service robots, Task analysis

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IEEE Robotics & Automation Magazine (RAM) has over 14,000 readers who are the people who drive this remarkable technology. More than half work in basic research and many of the others are top level engineers and decision-makers in industry.  This magazine highlights new concepts in Robotics and Automation that are applied to real-world systems. It delivers tutorial and survey papers by distinguished experts in the field, organizes focused special issues on hot topics, and provides a forum for disseminating and discussing emerging trends, novel achievements, and selected news relevant to the development of the whole community active in these fields worldwide.

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IEEE Robotics & Automation Magazine  publishes four issues per year: March, June, September and December.