{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T18:39:40Z","timestamp":1785436780908,"version":"3.56.0"},"reference-count":27,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2026,4,24]],"date-time":"2026-04-24T00:00:00Z","timestamp":1776988800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62373121"],"award-info":[{"award-number":["62373121"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"award":["62373121"],"award-info":[{"award-number":["62373121"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"publisher"}]},{"name":"STI 2030-Major Projects","award":["2021ZD0201403"],"award-info":[{"award-number":["2021ZD0201403"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>When a rigid object is manipulated by dual arms to form a closed chain, the dual-arm motion must satisfy closed-chain constraints. Although synchronized motion can be achieved by strictly tracking predefined global trajectories, the presence of dynamic obstacles necessitates reactive local planning. However, existing local planning methods designed for single-arm manipulators cannot guarantee synchronization between dual arms. To address this limitation, we propose a dual-arm reactive synchronized motion controller (SMC) by incorporating closed-chain constraints on dual-arm slack velocities based on spherical geometric velocity constraints, and by implementing a flexible master-slave arm switching strategy. As a result, the proposed controller achieves synchronized dual-arm control while preserving excellent motion performance, including manipulability enhancement, obstacle avoidance, and compliance with joint angle and velocity constraints. Simulations and experiments on a humanoid upper-body robot validate the effectiveness of the proposed approach.<\/jats:p>","DOI":"10.3390\/biomimetics11050298","type":"journal-article","created":{"date-parts":[[2026,4,24]],"date-time":"2026-04-24T12:29:11Z","timestamp":1777033751000},"page":"298","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Reactive Synchronized Motion Controller for Dual-Arm Cooperation with Closed-Chain Constraints"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3374-858X","authenticated-orcid":false,"given":"Fengjia","family":"Ju","sequence":"first","affiliation":[{"name":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-1960-4242","authenticated-orcid":false,"given":"Zijian","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mingda","family":"Ge","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7469-6907","authenticated-orcid":false,"given":"Hongzhe","family":"Jin","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jie","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,4,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"11464","DOI":"10.1109\/TIE.2025.3558063","article-title":"Kinematic Control of Humanoid Upper Body Robot Using Virtual Flexible Joint Dynamics Primitive and Quasi-Sliding Mode Observer","volume":"72","author":"Yin","year":"2025","journal-title":"IEEE Trans. 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