Using synergies in dual-arm manipulation tasks
Document typeConference lecture
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessRestricted access - publisher's policy
The paper deals with the problem of planning movements of dual-arm anthropomorphic systems, with the aim of reducing the computational cost of the problem and making the movements look as human-like as possible. The key idea of the proposal is the search of synergies of the dual-arm anthropomorphic system in order to use them to reduce the dimension of the search space while preserving human-like appearance. This idea was already developed and successfully used to plan movements of robotic hands, thus the extension to a dual-arm system is attractive. The paper presents a description of the proposed approach as well as real experimental results that encourage doing further research in this line.
CitationSuarez, R., Rosell, J., García, N. Using synergies in dual-arm manipulation tasks. A: IEEE International Conference on Robotics and Automation. "2015 IEEE International Conference on Robotics and Automation (ICRA 2015): Seattle, Washington, USA, 26-30 May 2015". Seattle, WA: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 5655-5661.
- SIR - Robòtica Industrial i Servei - Ponències/Comunicacions de congressos 
- IOC - Institut d'Organització i Control de Sistemes Industrials - Ponències/Comunicacions de congressos 
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos