A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution
Paper in proceeding, 2019

Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot's end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When both types of motion are to be executed concurrently, the symmetric distribution of the relative motion between arms prevents task conflicts. Conversely, an asymmetric solution to the relative motion task will result in conflicts with the absolute task. In this work, we address the problem of designing a control law for the absolute motion task together with updating the distribution of the relative task among arms. Through a set of numerical results, we contrast our approach with the classical symmetric distribution of the relative motion task to illustrate the advantages of our method. © 2019 IEEE.


Diogo Almeida

Royal Institute of Technology (KTH)

Yiannis Karayiannidis

Chalmers, Electrical Engineering, Systems and control

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN) 25762370 (eISSN)

Vol. 2019-December 4252-4258 9030011
978-172811398-2 (ISBN)

58th IEEE Conference on Decision and Control, CDC 2019
Nice, France,

Subject Categories


Computer Science

Computer Vision and Robotics (Autonomous Systems)



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