Distributed Trajectory Generation for Cooperative Multi-Arm Robots via Virtual Force Interactions
A trajectory generation method for multi-arm robotsthrough cooperative and competitive interactions among multipleend-effectors is proposed. The method can generate the trajectories ofthe multiple arms in a distributed manner based on a concept of a virtualinteraction force which represents an interaction between an end-effectorand an environment. It is shown that the method is effective not only forsimple cooperative tasks such as positioning a common object, but alsofor more complicated tasks including relative motions among arms.
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
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Graduate School of Engineering