Event
Proposes Heterogeneous Dual-Arm Embodied Perception Planning Method
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Sukhvansh Jain et al. propose an embodied perception planning method that enables two Franka FR3 arms, equipped with a suction cup and a parallel gripper, to collaboratively complete manipulation tasks that a single gripper cannot reliably perform. Given a desired object motion specified by a human demonstration, the planner optimizes arm trajectory allocation within a finite horizon, determining segment by segment whether single-arm operation or dual-arm coordinated handover is required, and jointly considers heterogeneous grasp feasibility, motion constraints, manipulability, and cross-gripper compatibility, while computing a globally consistent allocation and adding explicit switching regularization. Experiments on a dual Franka FR3 platform show that the method improves feasibility and reliability in tasks where single-gripper execution is infeasible.
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- 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.
arXiv cs.RO ·