@inproceedings{b884f22170e84d28b5c0b2196401ecd4,
title = "Switching strategy for flexible task execution using the cooperative dual task-space framework",
abstract = "This paper presents a new strategy for task space control in the cooperative manipulation framework. We extend the cooperative dual task-space (CDTS) - which uses dual quaternions to represent the bimanual manipulation - to explicitly regard self-motion dynamics that arise from redundant kinematics. In this sense, we propose a flexible task execution criterion that enriches the Jacobian null space with additional degrees of freedom by relaxing control requirements upon specific geometric task objectives. The criterion is satisfied with a hysteresis-based switching strategy that ensures stability and convergence upon traditional and relaxed constraints. Simulation results highlight the importance and effectiveness of the proposed technique.",
author = "Figueredo, {L. F.C.} and Adorno, {B. V.} and Ishihara, {J. Y.} and Borges, {G. A.}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",
year = "2014",
month = oct,
day = "31",
doi = "10.1109/IROS.2014.6942784",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1703--1709",
booktitle = "IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems",
}