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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Bibliographic Details

Published in:	IEEE transactions on robotics Vol. 36; no. 5; pp. 1452 - 1471
Main Authors:	Stouraitis, Theodoros, Chatzinikolaidis, Iordanis, Gienger, Michael, Vijayakumar, Sethu
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.10.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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 Access:	Get full text
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