Online Hybrid Motion Planning for Dyadic Collaborative Manipulation via Bilevel Optimization

Effective collaboration is based on online adaptation of one's own actions to the actions of their partner. This article provides a principled formalism to address online adaptation in joint planning problems such as Dyadic collaborative Manipulation (DcM) scenarios. We propose an efficient bil...

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Veröffentlicht in:	IEEE transactions on robotics Jg. 36; H. 5; S. 1452 - 1471
Hauptverfasser:	Stouraitis, Theodoros, Chatzinikolaidis, Iordanis, Gienger, Michael, Vijayakumar, Sethu
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.10.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Adaptation Adaptation models Collaboration Dual arm manipulation (DaM) Hybrid power systems manipulation planning Motion planning Optimization optimization and optimal control physical human–robot interaction Planning Robots Switches Task analysis Trajectory optimization
ISSN:	1552-3098, 1941-0468
Online-Zugang:	Volltext
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