Pyung Hun Chang

Redundancy resolution for dual-arm robots inspired by human asymmetric bimanual action: Formulation and experiments

This paper proposes an optimization method for dual-arm robots, inspired by a study on human asymmetric bimanual action called Guiard's principle which states that when humans perform asymmetric bimanual tasks, the right hand (as the lateral preference) performs a fine motion (and force) resolution,…