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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 language | English |
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| Number of pages | 2 |
| Publication status | Published - 11 Jan 2024 |
| Event | 5th UK Robot Manipulation Workshop - University of Oxford, Oxford, United Kingdom Duration: 11 Jan 2024 → 12 Jan 2024 https://www.robot-manipulation.uk/ |
Workshop
| Workshop | 5th UK Robot Manipulation Workshop |
|---|---|
| Country/Territory | United Kingdom |
| City | Oxford |
| Period | 11/01/24 → 12/01/24 |
| Internet address |
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Dive into the research topics of 'Control Strategies for the Task Definition of Constrained Bimanual Manipulation'. Together they form a unique fingerprint.Activities
- 1 Participating in a conference, workshop, exhibition, performance, inquiry, course etc
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5th UK Robot Manipulation Workshop
Leslie-Dalley, S. (Poster presenter)
11 Jan 2024 → 12 Jan 2024Activity: Participating in or organising event(s) › Participating in a conference, workshop, exhibition, performance, inquiry, course etc › Research
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