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Inverse Kinematics and Relative Arm Positioning

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Reinforcement Learning of Bimanual Robot Skills

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 134))

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Abstract

When attempting to perform bimanual robot manipulation, using reliable Inverse Kinematics methods is crucial, but also how to position two robots in order to cooperate. This chapter proposes two enhancements to the current state-of-the-art Closed-Loop Inverse Kinematics (CLIK) algorithms in Sect. 3.1, to then apply them to analyze the workspace and assess the relative positioning of two arms for cooperative manipulation in Sect. 3.2.

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Authors and Affiliations

  1. Institut de Robòtica i Informàtica Industrial (UPC-CSIC), Barcelona, Spain

    Adrià Colomé & Carme Torras

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  1. Adrià Colomé
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  2. Carme Torras
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Correspondence to Adrià Colomé .

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Colomé, A., Torras, C. (2020). Inverse Kinematics and Relative Arm Positioning. In: Reinforcement Learning of Bimanual Robot Skills. Springer Tracts in Advanced Robotics, vol 134. Springer, Cham. https://doi.org/10.1007/978-3-030-26326-3_3

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