Bimanual Mobile Manipulation Using the Cooperative Dual Task-Space Framework and Vector Fields Inequalities

This work proposes a strategy for bimanual manipulation using the cooperative dual task-space framework (CDTS) and constrained kinematic control based on quadratic programming. We use vector fields inequalities (VFI) to prevent undesired end-effector orientations and violation of joints limits. Experiments on a real two-arm mobile manipulator show that the approach allows performing cooperative tasks while respecting all constraints.