Asymmetric Dual-Arm Task Execution Using an Extended Relative Jacobian
Paper in proceeding, 2022

Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between end-effectors. In this work, we analyse cooperative manipulation in terms of the asymmetric resolution of relative motion tasks. We discuss how existing approaches enable the asymmetric execution of a relative motion task, and show how an asymmetric relative motion space can be defined. We leverage this result to propose an extended relative Jacobian to model the cooperative system, which allows a user to set a concrete degree of asymmetry in the task execution. This is achieved without the need for prescribing an absolute motion target. Instead, the absolute motion remains available as a functional redundancy to the system. We illustrate the properties of our proposed Jacobian through numerical simulations of a novel differential Inverse Kinematics algorithm.

Inverse kinematics


Diogo Almeida

Royal Institute of Technology (KTH)

Yiannis Karayiannidis

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Springer Proceedings in Advanced Robotics

25111256 (ISSN) 25111264 (eISSN)

Vol. 20 SPAR 18-34
9783030954581 (ISBN)

17th International Symposium of Robotics Research, ISRR 2019
Hanoi, Vietnam,

Subject Categories


Computer Science

Computer Systems



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