Responsive and Reactive Dual-Arm Robot Coordination

Beuke, Felix; Alatartsev, Sergey; Jessen, S. P.; Verl, Alexander

doi:10.1109/icra.2018.8462868

Search citation statements

Order By: Relevance

Paper Sections

Select...

Introduction1

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2020

2024

Publication Types

Select...

Article4

Other1

Relationship

Self Cite0

Independent5

Authors

Journals

Cited by 5 publications

(1 citation statement)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this case, the coordination between both arms for moving the piece is essential and includes constraints such as, distance, orientation, etc., in order to ensure a successful pick-and-place. In [15], a solution for a dual arm robot coordination is proposed, where authors present an algorithm that is able to automatically coordinate independently planned motions of a dualarm manipulator during the task.…”

Section: Introductionmentioning

confidence: 99%

Robotic Pick-and-Place Time Optimization: Application to Footwear Production

et al. 2020

View full text Add to dashboard Cite

Section: Introductionmentioning

confidence: 99%

Robotic Pick-and-Place Time Optimization: Application to Footwear Production

et al. 2020

View full text Add to dashboard Cite

Centralized vs. Decoupled Dual-arm Planning Taking into Account Path Quality

Wittmann,

Ochsenfarth,

Sonneville

et al. 2024

J Intell Robot Syst

View full text Add to dashboard Cite

The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning approach that ensures $$\varvec{\mathcal {C}^2}$$ C 2 -continuous control commands with zero velocities and zero accelerations at the start and goal. We benchmark our decoupled approach with a centralized approach. Contrary to literature, we show that for a standard motion planning pipeline, such as the one used by MoveIt!, centralized planning is superior to decoupled planning in dual-arm manipulation: It has a lower computation time and a higher robustness. Our second contribution is an optimization that minimizes the rotational motion of an end-effector while considering obstacle avoidance. We derive the analytic gradients of this optimization problem, making the algorithm suitable for online motion planning. Our optimization extends an existing path quality improvement method. Integrating it into our decoupled approach overcomes its shortcomings and provides a motion planning pipeline that is robust at up to 99.9 % with a planning time of less than 1 s and that computes high-quality paths.

show abstract

An Optimisation-Based Distributed Cooperative Control for Multi-Robot Manipulation with Obstacle Avoidance

Liu

2020

IFAC-PapersOnLine

View full text Add to dashboard Cite

Responsive and Reactive Dual-Arm Robot Coordination

Cited by 5 publications

References 12 publications

Robotic Pick-and-Place Time Optimization: Application to Footwear Production

Robotic Pick-and-Place Time Optimization: Application to Footwear Production

Centralized vs. Decoupled Dual-arm Planning Taking into Account Path Quality

An Optimisation-Based Distributed Cooperative Control for Multi-Robot Manipulation with Obstacle Avoidance

Contact Info

Product

Resources

About