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 ...