# A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution

arXiv: https://arxiv.org/abs/1905.01261 · HTML: https://mlsanity.com/paper/1905.01261/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 May 2019.

## Built on by (most cited first, 1 of 1)

- [Bi-KVIL: Keypoints-based Visual Imitation Learning of Bimanual Manipulation Tasks](https://mlsanity.com/paper/2403.03270/) (2024)

## Abstract (arXiv)

Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot's end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When both types of motion are to be executed concurrently, the symmetric distribution of the relative motion between arms prevents task conflicts. Conversely, an asymmetric solution to the relative motion task will result in conflicts with the absolute task. In this work, we address the problem of designing a control law for the absolute motion task together with updating the distribution of the relative task among arms. Through a set of numerical results, we contrast our approach with the classical symmetric distribution of the relative motion task to illustrate the advantages of our method.