{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T09:34:45Z","timestamp":1766136885245},"publisher-location":"California","reference-count":0,"publisher":"International Joint Conferences on Artificial Intelligence Organization","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2017,8]]},"abstract":"<jats:p>The use of coordinated multi-arm robotic systems allows to preform manipulations of heavy or bulky objects that would otherwise be infeasible for a single-arm robot. This paper concisely introduces our work on coordinated multi-arm control [Salehian et al., 2016a], where we proposed a virtual object based dynamical systems (DS) control law to generate autonomous and synchronized motions for a multi-arm robot system. We show theoretically and empirically that the multi-arm + virtual object system converges asymptotically to a moving object. The proposed framework is validated on a dual-arm robotic system. We demonstrate that it can re-synchronize and adapt the motion of each arm in a fraction of a second, even when the object\u2019s motion is fast and not accurately predictable.<\/jats:p>","DOI":"10.24963\/ijcai.2017\/693","type":"proceedings-article","created":{"date-parts":[[2017,7,28]],"date-time":"2017-07-28T05:14:07Z","timestamp":1501218847000},"page":"4914-4918","source":"Crossref","is-referenced-by-count":6,"title":["Dynamical System-Based Motion Planning for Multi-Arm Systems: Reaching for Moving Objects"],"prefix":"10.24963","author":[{"given":"Seyed Sina","family":"Mirrazavi Salehian","sequence":"first","affiliation":[{"name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nadia","family":"Figueroa","sequence":"additional","affiliation":[{"name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aude","family":"Billard","sequence":"additional","affiliation":[{"name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"10584","event":{"number":"26","sponsor":["International Joint Conferences on Artificial Intelligence Organization (IJCAI)","University of Technology Sydney (UTS)","Australian Computer Society (ACS)"],"acronym":"IJCAI-2017","name":"Twenty-Sixth International Joint Conference on Artificial Intelligence","start":{"date-parts":[[2017,8,19]]},"theme":"Artificial Intelligence","location":"Melbourne, Australia","end":{"date-parts":[[2017,8,26]]}},"container-title":["Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence"],"original-title":[],"deposited":{"date-parts":[[2017,7,28]],"date-time":"2017-07-28T07:55:09Z","timestamp":1501228509000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.ijcai.org\/proceedings\/2017\/693"}},"subtitle":[],"proceedings-subject":"Artificial Intelligence Research Articles","short-title":[],"issued":{"date-parts":[[2017,8]]},"references-count":0,"URL":"https:\/\/doi.org\/10.24963\/ijcai.2017\/693","relation":{},"subject":[],"published":{"date-parts":[[2017,8]]}}}