# 面向异构双臂操作的具身感知规划

> 原文链接：https://robotics.hellobike.com/papers/2026-10-16-2610-23551
> 频道：papers | 更新日期：2026-10-16 | 标签：arxiv, cs.RO
> 核心摘要：针对单一简单夹爪难覆盖复杂操作约束的问题，提出具身感知有限时域优化规划，并在异构双臂平台验证。

# 面向异构双臂操作的具身感知规划

::: v-pre
> 原文链接：[Embodiment-Aware Planning for Heterogeneous Bimanual Manipulation](https://arxiv.org/abs/2610.23551)（arXiv 2610.23551 · 发布日期：2026-10-16）

**Embodiment-Aware Planning for Heterogeneous Bimanual Manipulation**

针对单一简单夹爪难覆盖复杂操作约束的问题，提出具身感知有限时域优化规划，并在异构双臂平台验证。

## 核心要点

- 复杂操作包含拾取、重定向、插入和受限放置，单一夹爪模式难以可靠满足各阶段约束。
- 方法从单个人类演示给出的物体运动出发，将执行规划为臂轨迹分配的有限时域优化。
- 规划器在每段判断单臂操作或双臂交接，并联合考虑抓取可行性、运动约束、可操作性和夹爪兼容性。
- 在配备吸盘和平行夹爪的双 Franka FR3 平台上，实验显示对单夹爪不可行任务提升了可行性和可靠性。

**验证范围与局限**：验证范围为配备吸盘和平行夹爪的双 Franka FR3 平台上的相关操作任务。

## 英文摘要 (Abstract)

Many manipulation tasks that are effortless for dexterous human hands remain challenging for robotic systems equipped with simple, task-specialized grippers. Industrial platforms commonly rely on end-effectors such as suction cups or parallel-jaw grippers, yet no single mode can reliably satisfy the diverse constraints encountered across different phases of complex manipulation tasks, including pickup, reorientation, insertion, and constrained placement. In this work, we investigate whether complementary simple grippers within a heterogeneous bimanual setup can collectively realize tasks that exceed the capability of any individual gripper alone. Given a single human demonstration specifying the desired object motion, we formulate embodiment-aware execution as a finite-horizon optimization over arm-trajectory assignments. At each segment, the planner determines whether single-arm manipulation or a coordinated dual arm handover is required, jointly reasoning over heterogeneous grasp feasibility, motion constraints, manipulability, and cross-gripper compatibility. Exploiting this formulation, we compute globally consistent assignments with explicit switching regularization. Experiments on a dual Franka FR3 platform equipped with suction and parallel-jaw grippers demonstrate improved feasibility and reliability in tasks that are infeasible under single-gripper execution.

作者：Sukhvansh Jain, Anurag Maurya, Shivam Vats, Narendra Kumar Dhar, Ravi Prakash
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## 原始参考来源 (Sources)

- [arXiv 2610.23551：Embodiment-Aware Planning for Heterogeneous Bimanual Manipulation](https://arxiv.org/abs/2610.23551)