Control Strategies for the Task Definition of Constrained Bimanual Manipulation

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Abstract

This work describes two use-cases to present strategies for the definition of constrained bimanual manipulation tasks. We use the cooperative dual task-space (CDTS) framework, vector field inequalities (VFIs) and geometric primitives such as Plücker lines and planes to implement collision avoidance with the environment and preserve the integrity of the task. Simulations of the use-cases were carried out and showed that all implemented constraints were upheld through the execution of the bimanual manipulation task.
Original languageEnglish
TypeExtended Abstract
Media of outputText
Number of pages2
Publication statusUnpublished - 11 Jan 2024

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