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

## TL;DR

This paper proposes a Lyapunov-based control method for dual-arm robots that exploits asymmetries in task distribution to improve task resolution, contrasting with traditional symmetric approaches.

## Contribution

It introduces a novel control law that dynamically updates the relative motion distribution, enhancing dual-arm task execution efficiency.

## Key findings

- The proposed method outperforms symmetric distribution in conflict avoidance.
- Numerical results demonstrate improved task coordination and flexibility.
- The approach effectively manages absolute and relative motion tasks simultaneously.

## Abstract

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.