Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control: Retargeting Human Commands to Feasible Robot Control References

This article presents a robust and reliable human–robot collaboration (HRC) framework for bimanual manipulation. We propose an optimal motion adaptation method to retarget arbitrary human commands feasible robot pose references while maintaining payload stability. The comprises three modules: 1) a task-space sequential equilibrium inverse kinematics optimization ( xmlns:xlink="http://www.w3.org/1999/xlink">task-space SEIKO ) retargeting enforcing feasibility constraints, 2) admittance controller facilitate compliant physical interactions, 3) low-level improving stability during interactions. Experimental results show that the proposed successfully adapted infeasible dangerous into continuous motions within safe boundaries achieved stable grasping maneuvering of large heavy objects on real dual-arm via teleoperation interaction. Furthermore, demonstrated capability in assembly task building blocks insertion industrial power connectors.