Force Control in Dual-Arm Cooperative Manipulation with Time-Varying Grasp Matrix

Brief Project Description

Dual-arm cooperative manipulation typically relies on a fixed grasp map to decompose measured end-effector wrenches into external and internal components. However, in liquid-filled containers, the effective center of mass shifts during motion, making the grasp matrix time-varying, and may degrade the regulation of internal forces. The thesis will explore strategies for estimating and updating a time-varying grasp matrix and examine their impact on internal force computation using wrist force/torque sensors, with validation on a dual-arm setup.

This thesis is conducted in collaboration with: IMA-UNIBO DIGIMECH

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