DMPs-based skill learning for redundant dual-arm robotic synchronized cooperative manipulation

Lu, Zhenyu; Wang, Ning; Shi, Donghao

Abstract

Dual-arm robot manipulation is applicable to many domains, such as industrial, medical, and home service scenes. Learning from demonstrations (LfD) is a highly effective paradigm for robotic learning, where a robot learns from human actions directly and can be used autonomously for new tasks, avoiding the complicated analytical calculation for motion programming. However, the learned skills are not easy to generalize to new cases where special constraints such as varying relative distance limitation of robotic end effectors for human-like cooperative manipulations exist. In this paper, we propose a dynamic movement primitives (DMPs) based skills learning framework for redundant dual-arm robots. The method, with a coupling acceleration term to the DMPs function, is inspired by the transient performance control of Barrier Lyapunov Functions (BLFs). The additional coupling acceleration term is calculated based on the constant joint distance and varying relative distance limitations of end effectors for object approaching actions. In addition, we integrate the generated actions in joint space and the solution for a redundant dual-arm robot to complete a human-like manipulation. Simulations undertaken in Matlab and Gazebo environments certify the effectiveness of the proposed method.

• Journal Article Type: Article
• Acceptance Date: Mar 31, 2021
• Online Publication Date: Jun 17, 2021
• Publication Date: Aug 1, 2022
• Deposit Date: Apr 28, 2021
• Publicly Available Date: Apr 29, 2021
• Journal: Complex and Intelligent Systems
• Print ISSN: 2199-4536
• Electronic ISSN: 2198-6053
• Publisher: Springer (part of Springer Nature)
• Peer Reviewed: Peer Reviewed
• Volume: 8
• Pages: 2873–2882
• DOI: https://doi.org/10.1007/s40747-021-00429-3
• Keywords: Dynamic movement primitives (DMPs), Robotic skill learning, Barrier Lyapunov Functions (BLFs), Cooperative manipulation, Redundant robot arm
• Public URL: https://uwe-repository.worktribe.com/output/7316944
• Publisher URL: https://link.springer.com/article/10.1007/s40747-021-00429-3