Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control

Sonny Tarbouriech; Benjamin Navarro; Philippe Fraisse; André Crosnier; Andrea Cherubini; Damien Sallé

IROS 2018poster19 citations

Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control

Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini, Damien Sallé

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.

BibTeX

@inproceedings{iros2018_dualarmrelativet,
  title = {Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control},
  author = {Sonny Tarbouriech and Benjamin Navarro and Philippe Fraisse and André Crosnier and Andrea Cherubini and Damien Sallé},
  booktitle = {IROS 2018},
  year = {2018}
}