  Robotic dual-arm twisting is a common but very challenging task in both
industrial production and daily services, as it often requires dexterous
collaboration, a large scale of end-effector rotating, and good adaptivity for
object manipulation. Meanwhile, safety and efficiency are preliminary concerns
for robotic dual-arm coordinated manipulation. Thus, the normally adopted fully
automated task execution approaches based on environmental perception and
motion planning techniques are still inadequate and problematic for the arduous
twisting tasks. To this end, this paper presents a novel strategy of the
dual-arm coordinated control for twisting manipulation based on the combination
of optimized motion planning for one arm and real-time telecontrol with human
intelligence for the other. The analysis and simulation results showed it can
achieve collision and singularity free for dual arms with enhanced dexterity,
safety, and efficiency.
