A synergic method for anthropomorphic dual-arm robots to plan bimanual transport tasks

This paper proposes a novel method for anthropomorphic dual-arm robots to plan bimanual transport tasks, considering the feature of human-like structure and utilizing synergies to reduce the dimension of the system. Unlike conventional methods in which the trajectory of the transported object is explicitly prescribed in the operational space, the proposed method plans the motion upon intrinsic variables from both arms and produce the trajectory in an indirect way. Thus, the proposed method is a model-based “joint space” method and exploits the coordination of the arms in the motion planning procedure. The motion planning is divided into translation planning and orientation stabilization. Only the final positions of the wrist centers need to be specified for translation planning; the object's orientation will adapt following the translation. Simulation is conducted to verify the feasibility of the proposed method. Comparison with the conventional method is performed to demonstrate the features of the proposed method.