Motion planning of bimanual robot using adaptive model of assembly

Myun Joong Hwang, Doo Yong Lee, Seong Youb Chung

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


This paper presents a motion planning method for a bimanual robot for executing assembly tasks. The method employs an adaptive modeling which can automatically generate an assembly model and modify the model during actual assembly. Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. The lower-level velocity commands of the workpieces are automatically derived by solving optimization problem formulated with assembly constraints, position of the workpieces, and kinematics of manipulators. Motion requirements of the workpieces are transformed to motion commands of the bimanual robot. The proposed approach is evaluated with experiments on peg-in-hole assembly with an L-shaped peg.

Original languageEnglish
Pages (from-to)3749-3756
Number of pages8
JournalIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
Issue number12
StatePublished - 2008


  • Motion planning
  • Multi manipulators
  • Robotic assembly


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