Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

SFG Algebra01:16

SFG Algebra

In Signal Flow Graph (SFG) algebra, the value a node represents is determined by the sum of all signals entering that node. This summed value is then transmitted through every branch leaving the node, making the SFG a powerful tool for visualizing and analyzing control systems.
Each node in an SFG corresponds to a variable, and the interactions between nodes are represented by branches with associated gains. When multiple branches lead into a node, the value at that node is the sum of the...
Coordination Number and Geometry02:57

Coordination Number and Geometry

For transition metal complexes, the coordination number determines the geometry around the central metal ion. Table 1 compares coordination numbers to molecular geometry. The most common structures of the complexes in coordination compounds are octahedral, tetrahedral, and square planar.
Parallel-axis Theorem01:06

Parallel-axis Theorem

The parallel-axis theorem provides a convenient and quick method of finding the moment of inertia of an object about an axis parallel to the axis passing through its center of mass. Consider a thin rod as an example. There is a striking similarity between the process of finding the moment of inertia of a thin rod about an axis through its middle, where the center of mass lies, and about an axis through its end using the conventional method. In the conventional method, the concept of linear mass...
Area Computation by the Alternative Coordinate Method01:24

Area Computation by the Alternative Coordinate Method

The alternative coordinate method, also known as the Shoelace Formula, is a technique for determining the area of a traverse using Cartesian coordinates. This method relies on the sequential arrangement of x and y coordinates for each point of the shape, ensuring accuracy and ease of application.In this approach, each corner's x and y coordinates are listed as fractions, with the x-coordinate as the numerator and the y-coordinate as the denominator. These coordinates are arranged sequentially...
Fundamental Theorem of Algebra01:30

Fundamental Theorem of Algebra

The Fundamental Theorem of Algebra is central to the study of polynomial equations, asserting that every non-constant polynomial with complex coefficients has at least one complex zero. This means that a polynomial of degree n ≥ 1, written as:  with an ≠ 0, has at least one solution in the complex number system. Since the set of real numbers is a subset of complex numbers, this theorem applies equally to polynomials with real coefficients.Building on this result, the Complete Factorization...
Shunt Admittances01:26

Shunt Admittances

Shunt admittances play a crucial role in the analysis of transmission lines, particularly for three-phase systems with neutral conductors. When a uniformly charged conductor is positioned above the Earth, it induces an equal but opposite charge on its surface. This interaction creates electric field lines between the conductor and the Earth.
To model this effect, the method of images is employed. This method involves replacing the Earth with an image conductor that mirrors the original...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Object-centric task representation and transfer using diffused orientation fields.

Science robotics·2026
Same author

Editorial: Advancing soft, tactile, and haptic technologies: recent developments for healthcare applications.

Frontiers in robotics and AI·2025
Same author

A containerised approach for multiform robotic applications.

Frontiers in robotics and AI·2024
Same author

Bilateral teleoperation with object-adaptive mapping.

Complex & intelligent systems·2022
Same author

Users' Perspective on the AI-Based Smartphone PROTEIN App for Personalized Nutrition and Healthy Living: A Modified Technology Acceptance Model (mTAM) Approach.

Frontiers in nutrition·2022
Same author

Editorial: Artificial Intelligence and Human Movement in Industries and Creation.

Frontiers in robotics and AI·2021
Same journal

Passive wheels on legged robots: a survey.

Frontiers in robotics and AI·2026
Same journal

Politeness cannot make up for robots' errors.

Frontiers in robotics and AI·2026
Same journal

Workers expect basic social skills but limited autonomy from future robots - a qualitative interview study and taxonomy for robot social skills.

Frontiers in robotics and AI·2026
Same journal

Human-robot interaction in sustainable hospitality: how robot type shapes customer emotions, green perceptions, and service loyalty.

Frontiers in robotics and AI·2026
Same journal

Dynamic variance-aware federated tuning for efficient autonomous vehicle perception under non-IID settings.

Frontiers in robotics and AI·2026
Same journal

Editorial: Synergizing large language models and computational intelligence for advanced robotic systems.

Frontiers in robotics and AI·2026
See all related articles

Related Experiment Video

Updated: May 31, 2026

Active Probe Atomic Force Microscopy with Quattro-Parallel Cantilever Arrays for High-Throughput Large-Scale Sample Inspection
05:04

Active Probe Atomic Force Microscopy with Quattro-Parallel Cantilever Arrays for High-Throughput Large-Scale Sample Inspection

Published on: June 13, 2023

Dual-arm admittance control using conformal geometric algebra.

Tobias Löw1, Mariana de Paula Assis Fonseca2, Vitalii Pruks2

  • 1Idiap Research Institute and Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland.

Frontiers in Robotics and AI
|May 29, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a new task-space admittance controller for dual-arm robots using conformal geometric algebra. The controller enhances geometric modeling for complex robotic manipulation tasks and demonstrates effective impedance control in experiments.

Keywords:
admittance controlconformal geometric algebradual-arm manipulationimpedance controlrobotic manipulation

More Related Videos

Operation of the Collaborative Composite Manufacturing (CCM) System
10:09

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques
09:01

Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques

Published on: April 4, 2017

Related Experiment Videos

Last Updated: May 31, 2026

Active Probe Atomic Force Microscopy with Quattro-Parallel Cantilever Arrays for High-Throughput Large-Scale Sample Inspection
05:04

Active Probe Atomic Force Microscopy with Quattro-Parallel Cantilever Arrays for High-Throughput Large-Scale Sample Inspection

Published on: June 13, 2023

Operation of the Collaborative Composite Manufacturing (CCM) System
10:09

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques
09:01

Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques

Published on: April 4, 2017

Area of Science:

  • Robotics
  • Control Systems
  • Geometric Algebra

Background:

  • Dual-arm robotic systems require advanced control strategies for complex manipulation tasks.
  • Existing controllers, often based on dual quaternion algebra, may have limitations in geometric expressiveness.
  • Modeling multiple points of contact and whole-body manipulation presents significant challenges.

Purpose of the Study:

  • To develop a novel task-space admittance controller for dual-arm robotic systems.
  • To leverage conformal geometric algebra for enhanced geometric modeling capabilities.
  • To enable more complex robotic applications, including whole-body manipulation with multiple contact points.

Main Methods:

  • Reinterpretation of a previous dual quaternion-based controller using conformal geometric algebra.
  • Derivation of the controller for a single-arm robot, subsequently extended to a dual-arm configuration.
  • Implementation of a closed-loop system with an outer loop for apparent impedance and an inner loop for twist acceleration to control input transformation.

Main Results:

  • Experimental validation on a dual LBR KUKA iiwa 14 R820 robot setup with force/torque sensors.
  • Demonstrated good performance for both single and dual-arm tasks.
  • Successful achievement of desired poses without external forces and compliant motion with external wrenches, maintaining desired impedance.

Conclusions:

  • The proposed conformal geometric algebra-based admittance controller offers enhanced geometric expressiveness for robotic systems.
  • The controller effectively manages impedance control for dual-arm robots in various task scenarios.
  • This approach facilitates more complex robotic manipulation and opens avenues for advanced applications.