title: Distributed trajectory generation for cooperative multi-arm robots via virtual force interactions.
abstract: A trajectory generation method for multi-arm robots through cooperative and competitive interactions among multiple end-effecters is proposed. The method can generate the trajectories of the multiple arms in a distributed manner based on a concept of a virtual interaction force which represents an interaction between an end-effector and an environment. It is shown that the method is effective not only for simple cooperative tasks such as positioning a common object, but also for more complicated tasks including relative motions among arms.
authors.affiliation: Dept. of Ind. & Syst. Eng., Hiroshima Univ.
authors.forename: T
authors.initials: T
authors.lastname: Tsuji
authors.forename: A
authors.initials: A
authors.lastname: Jazidie
authors.forename: M
authors.initials: M
authors.lastname: Kaneko