Dynamical System-Based Motion Planning for Multi-Arm Systems: Reaching for Moving Objects
Abstract
The use of coordinated multi-arm robotic systems allows to preform manipulations of heavy or bulky objects that would otherwise be infeasible for a single-arm robot. This paper concisely introduces our work on coordinated multi-arm control [Salehian et al., 2016a], where we proposed a virtual object based dynamical systems (DS) control law to generate autonomous and synchronized motions for a multi-arm robot system. We show theoretically and empirically that the multi-arm + virtual object system converges asymptotically to a moving object. The proposed framework is validated on a dual-arm robotic system. We demonstrate that it can re-synchronize and adapt the motion of each arm in a fraction of a second, even when the object’s motion is fast and not accurately predictable.
Cite
Text
Salehian et al. "Dynamical System-Based Motion Planning for Multi-Arm Systems: Reaching for Moving Objects." International Joint Conference on Artificial Intelligence, 2017. doi:10.24963/IJCAI.2017/693Markdown
[Salehian et al. "Dynamical System-Based Motion Planning for Multi-Arm Systems: Reaching for Moving Objects." International Joint Conference on Artificial Intelligence, 2017.](https://mlanthology.org/ijcai/2017/salehian2017ijcai-dynamical/) doi:10.24963/IJCAI.2017/693BibTeX
@inproceedings{salehian2017ijcai-dynamical,
title = {{Dynamical System-Based Motion Planning for Multi-Arm Systems: Reaching for Moving Objects}},
author = {Salehian, Seyed Sina Mirrazavi and Figueroa, Nadia and Billard, Aude},
booktitle = {International Joint Conference on Artificial Intelligence},
year = {2017},
pages = {4914-4918},
doi = {10.24963/IJCAI.2017/693},
url = {https://mlanthology.org/ijcai/2017/salehian2017ijcai-dynamical/}
}