Overview
Honours thesis investigating bimanual (dual-arm) robot manipulation. The work focuses on coordination strategies, control approaches, and practical methods for achieving reliable two-handed tasks.
Background
Many real-world manipulation tasks benefit from or require two arms working together. Coordinating two manipulators introduces challenges in planning, synchronisation, force interaction, and robustness that single-arm systems do not face to the same degree.
Objectives
- Explore practical approaches to dual-arm coordination
- Implement and evaluate selected strategies on available hardware / simulation
- Document design decisions, limitations, and results clearly
Technologies
- Python / C++
- Simulation and/or physical dual-arm platform
- Mujoco for simulation
- Unitree G1 humanoid robot as the platform for research.
Status
Work is ongoing. This page will be updated as results and documentation mature.