This paper investigates the challenging task of catching large-momentum moving objects through impact-aware bimanual manipulation. The proposed framework optimizes contact locations, motion, stiffness, and force profiles to mitigate impact and enable dynamic manipulation tasks. The content is structured into sections focusing on object motion estimation, impact mechanics, contact selection, hybrid motion planning, and control mechanisms.
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by Lei ... om arxiv.org 03-27-2024
https://arxiv.org/pdf/2403.17249.pdfDiepere vragen