# Embodiment-Aware Planning for Heterogeneous Dual-Arm Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/u6m300pwfq61v5xd2fxnpgss9
- Original: https://arxiv.org/abs/2610.23551

## Summary

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.