Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space

Xin Shu; Xinyang Fan; Kang Min; Zhu Ji; Fenglei Ni; Hong Liu

doi:10.1007/978-981-99-6489-5_21

Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space

Xin Shu
, Xinyang Fan
, Kang Min
, Zhu Ji
, Fenglei Ni^*
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper aims to address the issue of planning dual-arm motions in scenarios involving tracking dynamic desired pose and obstacle avoidance. In situations where dual-arm motion requires synchronous behavior, inflexible planning, encountering obstacles, and beyond-the-arm motion capability may lead to task failure. To overcome these issues, we propose a dynamic-system-based method for dual-arm collaborative planning. The method can coordinate the motions of dual arms while keeping synchronous behavior in tracking the moving target and avoiding obstacles. Meanwhile, we incorporate the reachability by modeling the motion boundary to ensure that the arms moving within the reachable space. The experiment successfully verified the above scenarios, showcasing its adaptability in dual-arm planning and its potential applicability in dual-arm applications such as transportation.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
Editors	Huayong Yang, Jun Zou, Geng Yang, Xiaoping Ouyang, Honghai Liu, Zhiyong Wang, Zhouping Yin, Lianqing Liu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	261-273
Number of pages	13
ISBN (Print)	9789819964888
DOIs	https://doi.org/10.1007/978-981-99-6489-5_21
State	Published - 2023
Event	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, China Duration: 5 Jul 2023 → 7 Jul 2023

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	14269 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Country/Territory	China
City	Hangzhou
Period	5/07/23 → 7/07/23

Keywords

Collaborative Planning
Dual-Arm Motion
Dynamic Tracking
Moving Target

Access to Document

10.1007/978-981-99-6489-5_21

Cite this

Shu, X., Fan, X., Min, K., Ji, Z., Ni, F., & Liu, H. (2023). Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space. In H. Yang, J. Zou, G. Yang, X. Ouyang, H. Liu, Z. Wang, Z. Yin, & L. Liu (Eds.), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings (pp. 261-273). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14269 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6489-5_21

Shu, Xin ; Fan, Xinyang ; Min, Kang et al. / Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space. Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. editor / Huayong Yang ; Jun Zou ; Geng Yang ; Xiaoping Ouyang ; Honghai Liu ; Zhiyong Wang ; Zhouping Yin ; Lianqing Liu. Springer Science and Business Media Deutschland GmbH, 2023. pp. 261-273 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{062e2c4d6c464854ad04c80c24a6104e,

title = "Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space",

abstract = "This paper aims to address the issue of planning dual-arm motions in scenarios involving tracking dynamic desired pose and obstacle avoidance. In situations where dual-arm motion requires synchronous behavior, inflexible planning, encountering obstacles, and beyond-the-arm motion capability may lead to task failure. To overcome these issues, we propose a dynamic-system-based method for dual-arm collaborative planning. The method can coordinate the motions of dual arms while keeping synchronous behavior in tracking the moving target and avoiding obstacles. Meanwhile, we incorporate the reachability by modeling the motion boundary to ensure that the arms moving within the reachable space. The experiment successfully verified the above scenarios, showcasing its adaptability in dual-arm planning and its potential applicability in dual-arm applications such as transportation.",

keywords = "Collaborative Planning, Dual-Arm Motion, Dynamic Tracking, Moving Target",

author = "Xin Shu and Xinyang Fan and Kang Min and Zhu Ji and Fenglei Ni and Hong Liu",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",

year = "2023",

doi = "10.1007/978-981-99-6489-5\_21",

language = "英语",

isbn = "9789819964888",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "261--273",

editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhiyong Wang and Zhouping Yin and Lianqing Liu",

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Shu, X, Fan, X, Min, K, Ji, Z, Ni, F & Liu, H 2023, Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space. in H Yang, J Zou, G Yang, X Ouyang, H Liu, Z Wang, Z Yin & L Liu (eds), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 14269 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 261-273, 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, Hangzhou, China, 5/07/23. https://doi.org/10.1007/978-981-99-6489-5_21

Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space. / Shu, Xin; Fan, Xinyang; Min, Kang et al.
Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. ed. / Huayong Yang; Jun Zou; Geng Yang; Xiaoping Ouyang; Honghai Liu; Zhiyong Wang; Zhouping Yin; Lianqing Liu. Springer Science and Business Media Deutschland GmbH, 2023. p. 261-273 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14269 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space

AU - Shu, Xin

AU - Fan, Xinyang

AU - Min, Kang

AU - Ji, Zhu

AU - Ni, Fenglei

AU - Liu, Hong

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

PY - 2023

Y1 - 2023

N2 - This paper aims to address the issue of planning dual-arm motions in scenarios involving tracking dynamic desired pose and obstacle avoidance. In situations where dual-arm motion requires synchronous behavior, inflexible planning, encountering obstacles, and beyond-the-arm motion capability may lead to task failure. To overcome these issues, we propose a dynamic-system-based method for dual-arm collaborative planning. The method can coordinate the motions of dual arms while keeping synchronous behavior in tracking the moving target and avoiding obstacles. Meanwhile, we incorporate the reachability by modeling the motion boundary to ensure that the arms moving within the reachable space. The experiment successfully verified the above scenarios, showcasing its adaptability in dual-arm planning and its potential applicability in dual-arm applications such as transportation.

AB - This paper aims to address the issue of planning dual-arm motions in scenarios involving tracking dynamic desired pose and obstacle avoidance. In situations where dual-arm motion requires synchronous behavior, inflexible planning, encountering obstacles, and beyond-the-arm motion capability may lead to task failure. To overcome these issues, we propose a dynamic-system-based method for dual-arm collaborative planning. The method can coordinate the motions of dual arms while keeping synchronous behavior in tracking the moving target and avoiding obstacles. Meanwhile, we incorporate the reachability by modeling the motion boundary to ensure that the arms moving within the reachable space. The experiment successfully verified the above scenarios, showcasing its adaptability in dual-arm planning and its potential applicability in dual-arm applications such as transportation.

KW - Collaborative Planning

KW - Dual-Arm Motion

KW - Dynamic Tracking

KW - Moving Target

UR - https://www.scopus.com/pages/publications/85175987924

U2 - 10.1007/978-981-99-6489-5_21

DO - 10.1007/978-981-99-6489-5_21

M3 - 会议稿件

AN - SCOPUS:85175987924

SN - 9789819964888

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 261

EP - 273

BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings

A2 - Yang, Huayong

A2 - Zou, Jun

A2 - Yang, Geng

A2 - Ouyang, Xiaoping

A2 - Liu, Honghai

A2 - Wang, Zhiyong

A2 - Yin, Zhouping

A2 - Liu, Lianqing

PB - Springer Science and Business Media Deutschland GmbH

T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

Y2 - 5 July 2023 through 7 July 2023

ER -

Shu X, Fan X, Min K, Ji Z, Ni F , Liu H. Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space. In Yang H, Zou J, Yang G, Ouyang X, Liu H, Wang Z, Yin Z, Liu L, editors, Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Springer Science and Business Media Deutschland GmbH. 2023. p. 261-273. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-99-6489-5_21

Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space

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