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method of force decomposition achieves better re-
sults in experiment, up to an order of magnitude, than
common methods in literature. Future improvements
to the technique could include modeling interaction
torques as a force-couple with known moment arm
rather than a concentrated torque; this would match
the physical scenario more closely in certain config-
urations. Internal compliance might also be adjusted
so as to use each manipulator’s gripper point as the
respective center of rotation, while still sharing the
object center for external compliance and object-level
trajectory planning. Object mass and inertia proper-
ties, neglected here, could be incorporated into the
equations of motion. A Kalman filter could be ex-
plored for smoothing reactions to impulsive contact
forces and reducing oscillations. Taken together, this
work forms the basis for future dual-arm collabora-
tive object manipulation, including the exploration of
intelligent insertion strategies to improve speed and
repeatability.
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