Dual-Arm Coordination Using Dual Quaternions and Virtual Mechanisms

Rohit Chandra 1 Carlos Mateo 1 Juan Antonio Corrales Ramon 1 Youcef Mezouar 1
1 IP - Institut Pascal - Clermont Auvergne
Abstract : A novel approach to the kinematic coordination problem for dual-arm robots and for the definition of bimanual tasks is proposed, where both modelling and control aspects of the problem are handled using dual quaternion representation of pose and screw-based manipulator Jacobian. The proposed formulation is advantageous in terms of computation and storage efficiency compared to other formulations of dual-arm manipulator forward kinematics and Jacobian computation. Unit dual quaternion representation is also capable of avoiding representational singularities related to orientation. The coordination problem for dual-arm manipulation is addressed using relative Jacobian, and parametrized task definition is achieved using virtual mechanisms and task-specific Jacobians. The framework hence developed has been validated using a dual-arm Baxter robot for steering wheel rotation and bimanual pouring tasks, thus validating the position controller with both relative and global task-space motions. The proposed experiments use a visual sensing strategy to detect and follow the manipulated objects during the task.
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https://hal.uca.fr/hal-02098256
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PRES_CLERMONT | INSTITUT_PASCAL | CNRS | SIGMA-CLERMONT

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Rohit Chandra, Carlos Mateo, Juan Antonio Corrales Ramon, Youcef Mezouar. Dual-Arm Coordination Using Dual Quaternions and Virtual Mechanisms. 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2018, Kuala Lumpur, Malaysia. pp.759-765, ⟨10.1109/ROBIO.2018.8665292⟩. ⟨hal-02098256⟩

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