Reactive Cooperative Manipulation based on Set Primitives and Circular Fields
Riddhiman Laha,Luis F.C. Figueredo,Juraj Vrabel,Abdalla Swikir,Sami Haddadin,Riddhiman Laha,Luis F.C. Figueredo,Juraj Vrabel,Abdalla Swikir,Sami Haddadin
This paper addresses the problem of real-time planning in constrained dual-arm manipulation scenarios. Our proposed coupling leverages manipulability information of the cooperative bimanual task-space to a vector-field based planner by means of a repulsive circulatory field, while geometric primitives in Spin(3)⋉ℝ3 are explored for flexible task relaxation. Furthermore, the circular field informs ...
