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• W3205111566 abstract "This paper addresses the problem of real-time planning in constrained dual-arm manipulation scenarios. Our proposed coupling leverages manipulability information of the cooperative bimanual task-space to a vector-field based planner by means of a repulsive circulatory field, while geometric primitives in Spin(3)⋉ℝ <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>3</sup> are explored for flexible task relaxation. Furthermore, the circular field informs the cooperative framework about the safety boundaries which are in turn used to further relax motion constraints within a collision-free ball in Cartesian space. This builds a funnel along the trajectory which can be directly tracked through the proposed switching of task-primitive-priorities. The switching strategy follows an approach that ensures robustness to chattering and continuity in the joint-space. Experiments verify that our framework can run within the inner control loop of Franka Emika Panda robots." @default.
• W3205111566 created "2021-10-25" @default.
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• W3205111566 date "2021-05-30" @default.
• W3205111566 modified "2023-10-04" @default.
• W3205111566 title "Reactive Cooperative Manipulation based on Set Primitives and Circular Fields" @default.
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• W3205111566 doi "https://doi.org/10.1109/icra48506.2021.9561985" @default.
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