Bimanual & Cooperative Manipulation

Dual-arm and multi-robot manipulation: bimanual coordination strategies, cooperative grasping, symmetric vs. asymmetric tasks, and bimanual motion planning.

Learning Objectives

1. Why Two Arms?

1.1 Single-Arm Limitations

1.2 Bimanual Task Taxonomy

2. Coordination Strategies

2.1 Leader-Follower

2.2 Symmetric Coordination

2.3 Independent but Coordinated

3. Cooperative Grasping

3.1 Dual-Arm Grasp Planning

3.2 Object Handover

4. Bimanual Motion Planning

4.1 Coupled Configuration Space

4.2 MoveIt 2 Dual-Arm Setup

5. Task Decomposition for Bimanual Manipulation

6. Simulation & Sim-to-Real

7. ROS 2 Bimanual Integration

Exercises

References