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- W2800788658 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." @default.
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- W2800788658 date "2018-10-01" @default.
- W2800788658 modified "2023-09-24" @default.
- W2800788658 title "Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control" @default.
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- W2800788658 doi "https://doi.org/10.1109/iros.2018.8594320" @default.
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