This repository contains codes to generate coordinated motion and forces to control a robotic dual arm system (here two iiwa robots)

• Dual-arm Grabbing with impact and tossing an object

• Dual-arm tossing: workspace extension

• DS-based Dual-arm Adaptation and Robustness

Reference
[1] M. Bombile, A. Billard, Dual-arm control for coordinated fast grabbing and tossing of an object: Proposing a new approach, IEEE Robotics Automation Magazine 29 (3) (2022) 127–138. doi:10.1109/ MRA.2022.3177355. pdf-link

Contact: For questions on the methods and/or implementation contact Michael Bombile ([email protected])

Acknowledgments This work was supported in part by the European Union’s Horizon 2020 research and innovation program under grant agreement No. 871899. I.AM. project.

The dual arm control cpp library and the corresponding python bindings. See the dual_arm_control folder for the installations instructions.

Control the dual arm in simulation or with real robots using ROS. See the ros_dual_arm folder for the instructions.

Control the dual arm in AGX simulation. See the agx_dual_arm folder for the instructions.