Fast Coordinated Bimanual Motion Planning With Hard Constraints

2026-08-21

AI Summary

该研究解决了双臂操作中的复杂运动规划问题，通过领导者-跟随者参数化方法快速规划路径，确保全程满足硬性转换约束。

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.

Problem

• bimanual manipulation
• degrees of freedom
• rigid objects
• nonlinear equality constraint

Innovation

• bimanual manipulation
• hard constraints
• leader-follower parameterization
• inverse kinematics