Article

Embodiment-Aware Planning for Heterogeneous Dual-Arm Manipulation

This study proposes an embodiment-aware planning method in which two Franka FR3 arms equipped with different simple grippers (a suction cup and a parallel-jaw gripper) cooperate to complete manipulation tasks that a single gripper cannot perform reliably. Given a desired object motion specified by a human demonstration, the planner optimizes arm-trajectory assignments over a finite horizon, determining segment by segment whether single-arm manipulation or a coordinated dual-arm handover is required, while jointly considering heterogeneous grasp feasibility, motion constraints, manipulability, and cross-gripper compatibility; it also computes globally consistent assignments and adds explicit switching regularization.

Part of the event: Proposes Heterogeneous Dual-Arm Embodied Perception Planning Method

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