Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding


Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is proposed, where the
operator can sense and act through the robot. This is achieved by coupling two robotic systems with virtual constraints such that they have the same coordinates in the operational space disregarding a fixed offset. Limitations caused by the singular configurations or the reach of the robots are naturally reflected to either side as haptic feedback.


External organisations
  • Italian Institute of Technology
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Robotics
Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)978-1-5386-8094-0
Publication statusPublished - 2018 Oct 4
Publication categoryResearch
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid, Spain
Duration: 2018 Oct 12018 Oct 5


Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems

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