{"type":"ScholarlyArticle","title":"Dynamical System-Based Motion Planning for Multi-Arm Systems: Reaching for Moving Objects","authors":[{"name":"Seyed Sina Mirrazavi Salehian","slug":"seyed-sina-mirrazavi-salehian","given":"Seyed Sina Mirrazavi","family":"Salehian","affiliation":"LASA Laboratory , Ecole Polytechnique Federale de Lausanne (EPFL) , Switzerland"},{"name":"Nadia Figueroa","slug":"nadia-figueroa","given":"Nadia","family":"Figueroa","affiliation":"LASA Laboratory , Ecole Polytechnique Federale de Lausanne (EPFL) , Switzerland"},{"name":"Aude Billard","slug":"aude-billard","given":"Aude","family":"Billard","affiliation":"LASA Laboratory , Ecole Polytechnique Federale de Lausanne (EPFL) , Switzerland"}],"abstract":"The use of coordinated multi-arm robotic systems allows to preform manipulations of heavy or bulky objects that would otherwise be infeasible for a single-arm robot. This paper concisely introduces our work on coordinated multi-arm control [Salehian et al., 2016a], where we proposed a virtual object based dynamical systems (DS) control law to generate autonomous and synchronized motions for a multi-arm robot system. We show theoretically and empirically that the multi-arm + virtual object system converges asymptotically to a moving object. The proposed framework is validated on a dual-arm robotic system. We demonstrate that it can re-synchronize and adapt the motion of each arm in a fraction of a second, even when the object’s motion is fast and not accurately predictable.","doi":"10.24963/ijcai.2017/693","url":"https://ijcai.org/proceedings/2017/693","pdf":"https://ijcai.org/proceedings/2017/0693.pdf","markdown":"https://ijcai.org/proceedings/2017/693.md","bibtex":"https://ijcai.org/proceedings/2017/bibtex/693","volume":{"slug":"2017","title":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2017","url":"https://ijcai.org/proceedings/2017/","year":2017,"location":"Melbourne, Australia","dates":"19-25 August 2017","editors":"Carles Sierra","isbn":"978-0-9992411-0-3","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2017"},"section":"Best Sister Conferences","track":"Best Sister Conferences","number":693,"pages":{"first":4914,"last":4918},"keywords":["Artificial Intelligence: robotics","Artificial Intelligence: automated planning"],"videos":[],"references":[{"position":1,"raw":"[Coats and Wann, 2012] Rachel O. Coats and John P. Wann. Reaching a better understanding of the control of bimanual movements in older adults. PLoS ONE, 7(10):e47222, 10 2012.","title":"Reaching a better understanding of the control of bimanual movements in older adults","authors":"Rachel O Coats, John P Wann","year":"2012","venue":"PLoS ONE","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"[Salehian et al., 2016a] Seyed Sina Mirrazavi Salehian, Na- dia Figueroa, and Aude Billard. Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty. In Proceedings of Robotics: Science and Systems, 2016.","title":"Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty","authors":"Salehian","year":"2016","venue":"Proceedings of Robotics: Science and Systems","doi":null,"url":null,"internal_url":null},{"position":3,"raw":"[Salehian et al., 2016b] Seyed Sina Mirrazavi Salehian, M. Khoramshahi, and A. Billard. A dynamical system approach for softly catching a flying object: Theory and experiment. IEEE Transactions on Robotics, 32(2):462-471, April 2016.","title":"A dynamical system approach for softly catching a flying object: Theory and experiment","authors":"Salehian","year":"2016","venue":"IEEE Transactions on Robotics","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"[Smith et al., 2012] Christian Smith, Yiannis Karayiannidis, Lazaros Nalpantidis, Xavi Gratal, Peng Qi, Dimos V. Di- marogonas, and Danica Kragic. Dual arm manipulationa survey. Robotics and Autonomous Systems, 60(10):1340 - 1353, 2012.","title":"Dimarogonas, and Danica Kragic. Dual arm manipulationa survey","authors":"Smith","year":"2012","venue":"Robotics and Autonomous Systems","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"[Wimböck et al., 2012] Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, and Gerd Hirzinger. Comparison of object-level grasp controllers for dynamic dexterous ma- nipulation. The International Journal of Robotics Re- search, 31(1):3-23, 2012.","title":"Comparison of object-level grasp controllers for dynamic dexterous manipulation","authors":"Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger","year":"2012","venue":"The International Journal of Robotics Research","doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}