@inproceedings{68a199c5d0bb4e5d80b557937ea299ed,
title = "A geometric control algebra for cooperative manipulation",
abstract = "A geometric control algebra, represented using hybrid twist and wrench screw theory, is provided and described for cooperating manipulators to model dual-arm robotic operations. In addition to the system model of the manipulators, cooperative dual-arm robotic operations are incorporated using hybrid twist and wrench screw theory into the geometric control algebra. Single-object and two-object operations are based on hybrid twist and wrench screw theory thereby providing the fundamental relationships for freedom of motion and constraint for the dual-arm robotic operations.",
keywords = "Cooperative Manipulation, Dual-Arm Robot, Twist/Wrench Screw Theory",
author = "Cox, {Daniel J.}",
year = "2004",
language = "English",
isbn = "1889335215",
series = "Robotics: Trends, Principles, and Applications - Proceedings of the Sixth Biannual World Automation Congress, WAC",
pages = "259--264",
editor = "M. Jamshidi and A. Ollero and {Martinez-de Dios}, J.R. and J.S. Jamshidi",
booktitle = "Robotics",
note = "Robotics: Trends, Principles, and Applications - International Symposium on Robotics and Applications, ISORA - Sixth Biannual World Automation Congress, WAC 2004 ; Conference date: 28-06-2004 Through 01-07-2004",
}