Fast Coordinated Bimanual Motion Planning With Hard Constraints

Engineering notes

Engineering notes will be added by the Robot Papers editorial team.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Bimanual manipulation enables complex tasks but introduces added complexity from the high number of degrees of freedom involved. When handling rigid objects, the relative transformation between the two end effectors must remain fixed throughout the motion, manifesting as a nonlinear equality constraint that confines the feasible configuration space to a measure-zero manifold and challenges conventional motion planners. We propose a fast bimanual motion planning pipeline that enforces this hard transformation constraint continuously along the entire path, using a leader-follower parameterization: the leader's configuration is treated as a free variable, while the follower's is determined via inverse kinematics to satisfy the constraint. We extensively evaluate the method in simulation across diverse environments, constraints and bimanual platforms, achieving 19.4x faster planning than prior work while guaranteeing continuous constraint satisfaction. Real-world experiments on a bimanual Kinova Gen3 setup, involving tray transport and elongated-object manipulation, validate direct transfer of planned trajectories to physical hardware.

Links and sources

• Official / arXiv page
• PDF from original source

Comments