{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,28]],"date-time":"2026-03-28T16:53:16Z","timestamp":1774716796927,"version":"3.50.1"},"reference-count":19,"publisher":"World Scientific Pub Co Pte Ltd","issue":"04","funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62103053"],"award-info":[{"award-number":["62103053"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61873008"],"award-info":[{"award-number":["61873008"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Key Research and Development Program of China","award":["2018YFB1307004"],"award-info":[{"award-number":["2018YFB1307004"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2022,8]]},"abstract":"<jats:p> Efficient and collision-free coordination of two robot arms is increasingly needed in various service-oriented robotic applications. This paper proposes a dual arm coordination algorithm to improve the efficiency of coordination by considering both robot\u2019s actions and operating sequences of the tasks that need to use two arms to complete complex operations. Teleoperation demonstration is first performed to obtain the robot\u2019s human-like motion trajectories, so as to reduce the probability of the collisions between the two arms. The coordination diagram in time domain is then designed to more clearly represent the situations of trajectory collisions and find the collision-free coordination action law. A Coordination Pair Generator (CPG) is designed to reorganize the operating sequences according to the characteristics of input trajectories and the action coordination. The effectiveness and efficiency of our method are verified on the simulation and physical experiments which execute the drug sorting task in nursing homes, respectively, on the ABB YuMi robot model and self-developed robot system. According to the experiment results, the operation time has been reduced by 9% and the collision area has been reduced by 7.5%. <\/jats:p>","DOI":"10.1142\/s0219843622500074","type":"journal-article","created":{"date-parts":[[2022,4,25]],"date-time":"2022-04-25T01:03:40Z","timestamp":1650848620000},"source":"Crossref","is-referenced-by-count":1,"title":["Dual Arm Coordination with Coordination Diagram Based on Teleoperation Demonstration"],"prefix":"10.1142","volume":"19","author":[{"given":"Guoyu","family":"Zuo","sequence":"first","affiliation":[{"name":"Faculty of Information Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang District, Beijing 100124, P. R. 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