外观
论文arXiv 2610.1047221 天前
通过基于模型的释放设计实现机器人回旋镖投掷
原文链接：Robotic Boomerang Throwing via Model-Based Release Design（arXiv 2610.10472 · 发布日期：2026-10-07）
Robotic Boomerang Throwing via Model-Based Release Design
针对升力物体投掷中回旋镖返航难题，提出以释放状态为核心的模型框架，并在6-DoF机械臂上验证返航。
核心要点
- 回旋镖飞行强依赖释放速度、姿态与自旋，机械臂难以复现人类快速投掷动作。
- 分阶段辨识回旋镖飞行动力学，预测不同设计变化对飞行的影响。
- 筛选在不确定接触下能稳定控制释放自旋的参数，用于设计投掷动作和回旋镖。
- 演示释放自旋51 rad/s，最远距基座2.03 m，落点距基座0.31 m。
验证范围与局限：验证范围为一台关节速度受限的6-DoF机械臂上的一次回旋镖返回演示。
英文摘要 (Abstract)
Throwing objects that generate aerodynamic lift can greatly extend robot throwing beyond ballistic flight. A returning boomerang is a challenging example because its flight depends strongly on the release velocity, attitude, and spin, while robotic manipulators cannot readily reproduce the rapid motions used in human throwing. We present a model-based framework for robotic boomerang throwing centered on the release state. We identify the boomerang flight dynamics in stages to predict how flight changes across design variations. To systematically design the robot throwing motion, we screen candidate parameters according to how strongly and consistently they control release spin under uncertain contact conditions. These models are then used to design the throwing motion and boomerang for a 6-DoF manipulator with limited joint speeds. To our knowledge, this is the first robotic manipulator to generate a returning boomerang flight. In the demonstrated returning trial, the boomerang is released at 51 rad/s (8.1 rev/s), reaches 2.03 m from the robot base, and returns to touch down 0.31 m from the base. The successful release differs significantly from the measured human throws, showing that a robot need not imitate human throwing motion to achieve a returning flight. The project page is available at https://robot-boomerang.github.io
作者：Yang Liu, Colin Neil Jones, Aude Billard
来源
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