# 由人形机器人投掷紧密螺旋美式橄榄球

> 原文链接：https://robotics.hellobike.com/papers/2026-08-17-2608-16642
> 频道：papers | 更新日期：2026-08-17 | 标签：arxiv, cs.RO
> 核心摘要：提出全身控制框架调控释放动量与接触过程，并在29-DoF人形机器人上验证紧密螺旋投球。

# 由人形机器人投掷紧密螺旋美式橄榄球

::: v-pre
> 原文链接：[Throwing a Tight Spiral American Football by a Humanoid Robot](https://arxiv.org/abs/2608.16642)（arXiv 2608.16642 · 发布日期：2026-08-17）

**Throwing a Tight Spiral American Football by a Humanoid Robot**

提出全身控制框架调控释放动量与接触过程，并在29-DoF人形机器人上验证紧密螺旋投球。

## 核心要点

- 美式橄榄球准确投掷需耦合线动量与角动量，脱手时自旋注入控制仍研究不足。
- 方法采用耦合全身控制，下肢稳定，上肢分为加速投掷与随动控制两个阶段。
- 投掷阶段用轨迹优化与跟踪达到目标状态，随动阶段用MPC控制手腕和仍接触手指。
- 在Unitree G1与Dex3-1夹爪上实证，最高达93.6%自旋效率和0.286弧度鼻角误差。

**验证范围与局限**：验证范围为一台29-DoF Unitree G1人形机器人配7-DoF Dex3-1三指夹爪的美式橄榄球投掷实验。

## 英文摘要 (Abstract)

Accurate throwing of the American football requires precise regulation of release conditions, where coupled linear and angular momentum determine flight stability and targeting accuracy. While prior work on robotic object throwing has largely focused on generating dynamically feasible release velocities using open-gripper paradigms, explicit control of spin injection at detachment remains underexplored, particularly for aerodynamically anisotropic objects like the American football. In this paper, we present the spin-stabilized controlled tight spiral throw of an American football by a humanoid robot. Achieving this requires (i) accurately reaching the desired coupled momentum, which often involves high degrees-of-freedom (DoF) movements completed within approximately half a second, and (ii) managing the complex transient contact dynamics that arise during the sub-100-millisecond release phase, when the football is effectively underactuated as it moves partially across the fingers. To this end, we develop a coupled whole-body control strategy where the lower body is performing informed stabilization while the upper body is further divided into two phases with (i) a throw phase accelerating the football to a target state through trajectory optimization and tracking, and (ii) a follow-through phase utilizing model predictive control to actively control the wrist and remaining in-contact fingers. The proposed framework is empirically validated on a 29-DoF Unitree G1 humanoid equipped with a 7-DoF Dex3-1 three-fingered gripper. The thrown American football reaches up to 93.6% spin efficiency and a 0.286 radians linear-velocity-to-nose-alignment (nose-angle) error (where an "ideal" tight spiral corresponds to 100 % spin efficiency and 0 radians nose-angle error) at up to a 5.35 m/s linear velocity and an angular velocity of 14.5 rad/s.

作者：Zaid Mahboob, Bowen Weng
:::

## 原始参考来源 (Sources)

- [arXiv 2608.16642：Throwing a Tight Spiral American Football by a Humanoid Robot](https://arxiv.org/abs/2608.16642)