Motion planning of bimanual robot using bimanual task compatibility

Myun Joong Hwang, Seong Youb Chung, Doo Yong Lee

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


A cost-function based on manipulability and compatibility is designed to determine assembly motions of two cooperating manipulators. Assembly motions are planned along the direction maximizing performance indices to improve control performance of the two manipulators. This paper proposes bimanual task compatibility by defining cost functions. The proposed cost functions are applied and compared to the bimanual assembly task. The problem is formulated as a constrained optimization considering assembly constraints, position of the workpieces, and kinematics and redundancy of the bimanual robot. The proposed approach is evaluated with simulation of a peg-in-hole assembly with an L-shaped peg and two 3-dof manipulators.

Original languageEnglish
Pages (from-to)656-662
Number of pages7
JournalJournal of Institute of Control, Robotics and Systems
Issue number7
StatePublished - Jul 2008


  • Bimanual robot
  • Motion planning
  • Robotic assembly
  • Task compatibility


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