A Globally Guided Dual-Arm Reactive Motion Controller for Coordinated Self-Handover in a Confined Domestic Environment

Future humanoid robots will be widely deployed in our daily lives. Motion planning and control in an unstructured, confined, and human-centered environment utilizing dexterity and a cooperative ability of dual-arm robots is still an open issue. We propose a globally guided dual-arm reactive motion controller (GGDRC) that combines the strengths of global planning and reactive methods. In this framework, a global planner module with a prospective task horizon provides feasible guidance in a Cartesian space, and a local reactive controller module addresses real-time collision avoidance and coordinated task constraints through the exploitation of dual-arm redundancy. GGDRC extends the start-of-the-art optimization-based reactive method for motion-restricted dynamic scenarios requiring dual-arm cooperation. We design a pick-handover-place task to compare the performances of these two methods. Results demonstrate that GGDRC exhibits accurate collision avoidance precision (5 mm) and a high success rate (84.5%).