A Globally Guided Dual-Arm Reactive Motion Controller for Coordinated Self-Handover in a Confined Domestic Environment

• Published in: Biomimetics (Basel, Switzerland) Vol. 9; no. 10; p. 629
• Main Authors: Geng, Zihang, Yang, Zhiyuan, Xu, Wei, Guo, Weichao, Sheng, Xinjun
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 16-10-2024; MDPI
• Subjects: Algorithms; Anthropomorphism; collision avoidance; Collisions; Design; dual-arm coordination; global planning; humanoid robot; Methods; motion planning; Optimization; Planning; reactive control; Robots; collision avoidance; motion planning; dual-arm coordination; reactive control; global planning; humanoid robot
• ISSN: 2313-7673; 2313-7673
• DOI: 10.3390/biomimetics9100629

Future humanoid robots will be widely deployed in our daily lives. Motion planning and control in an unstructured, confined, and human-centered environment utilizing dexterity and a cooperative ability of dual-arm robots is still an open issue. We propose a globally guided dual-arm reactive motion controller (GGDRC) that combines the strengths of global planning and reactive methods. In this framework, a global planner module with a prospective task horizon provides feasible guidance in a Cartesian space, and a local reactive controller module addresses real-time collision avoidance and coordinated task constraints through the exploitation of dual-arm redundancy. GGDRC extends the start-of-the-art optimization-based reactive method for motion-restricted dynamic scenarios requiring dual-arm cooperation. We design a pick-handover-place task to compare the performances of these two methods. Results demonstrate that GGDRC exhibits accurate collision avoidance precision (5 mm) and a high success rate (84.5%).