Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Prioritized Hierarchical Compliance Control for Dual-Arm Robot Stable
  Clamping   When a dual-arm robot clamps a rigid object in an environment for human
beings, the environment or the collaborating human will impose incidental
disturbance on the operated object or the robot arm, leading to clamping
failure, damaging the robot even hurting the human. This research proposes a
prioritized hierarchical compliance control to simultaneously deal with the two
types of disturbances in the dual-arm robot clamping. First, we use
hierarchical quadratic programming (HQP) to solve the robot inverse kinematics
under the joint constraints and prioritize the compliance for the disturbance
on the object over that on the robot arm. Second, we estimate the disturbance
forces throughout the momentum observer with the F/T sensors and adopt
admittance control to realize the compliances. Finally, we perform the verify
experiments on a 14-DOF position-controlled dual-arm robot WalkerX, clamping a
rigid object stably while realizing the compliance against the disturbances.

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The categories of this paper are: dg-ga
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The categories of this paper are: math-ph
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The categories of this paper are: quant-ph
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The categories of this paper are: nucl-th
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The categories of this paper are: q-bio
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The categories of this paper are: solv-int
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The categories of this paper are: hep-ex
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The categories of this paper are: astro-ph
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The categories of this paper are: adap-org
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The categories of this paper are: eess
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The categories of this paper are: bayes-an
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The categories of this paper are: cond-mat
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The categories of this paper are: cmp-lg
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The categories of this paper are: atom-ph
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The categories of this paper are: patt-sol
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The categories of this paper are: hep-lat