IEEE Robotics & Automation Magazine - September 2022 - 138

appropriate, and to switch back to coordinated control,
when the object that needs to be grabbed requires a bimanual
grasp. Such an approach would then increase the flexibility
of current industrial manipulators.
Nevertheless, this work has limitations in its implementation.
The passive DS controller [18] used to compute the joint
torque from the generated motion has shown limited tracking
abilities, particularly during the tossing. Moreover, we used
first-order linear DS, which works well for fixed or slowly
varying attractors but has no compensation ability in tracking,
and therefore, defer this burden to the low-level controller
(here the passive DS). Future work could use second-order
DS able to address the compensation problem in tracking as
in [19]. In addition, instead of the passive DS, one could use
an inverse dynamic controller that not only compensates for
gravity but also for the inertial torques produced by strong
accelerations during tossing. Finally, the impact and the
object dynamics could also be included to guarantee the hardware
safety and improve the task accuracy.
Acknowledgment
This work was supported in part by the European Union's
Horizon 2020 research and innovation program under Grant
Agreement No. 871899. I.AM. project: https://i-am-project.
eu/. The authors would like to thank Patrick Sgro for his support
in the implementation on the real robots. This article has
supplementary material available at https://doi.org/10.1109/
MRA.2022.3177355, provided by the authors.
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Michael Bombile, Learning Algorithm and Systems Laboratory,
Ecole Polytechnique Fédérale de Lausanne, Lausanne, 1015,
Switzerland. Email: michael.bombile@epfl.ch.
Aude Billard, Learning Algorithm and Systems Laboratory,
Ecole Polytechnique Fédérale de Lausanne, Lausanne, 1015,
Switzerland. Email: aude.billard@epfl.ch.
138 * IEEE ROBOTICS & AUTOMATION MAGAZINE * SEPTEMBER 2022
https://hal.archives-ouvertes.fr/hal-01495662 https://hal.archives-ouvertes.fr/hal-01495662 https://hal.archives-ouvertes.fr/hal-02741682 https://i-am-project.eu https://i-am-project.eu https://www.doi.org/10.1109/MRA.2022.3177355 https://www.doi.org/10.1109/MRA.2022.3177355
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