解决双臂操作中刚性物体的运动约束难题，实现快速安全规划。
Fast Coordinated Bimanual Motion Planning With Hard Constraints
- 采用主从参数化，实时满足双臂相对位姿不变约束。
- 仿真中比之前方法快19.4倍，全程保证约束连续满足。
- 已在真实双臂机械臂上验证，适用于托盘搬运等任务。
双臂操作可完成复杂任务，但因自由度高而引入额外复杂性。处理刚性物体时，两末端执行器间的相对变换必须在整个运动过程中保持固定，形成非线性等式约束，使可行配置空间退化为测度为零的流形，挑战传统运动规划方法。本文提出一种快速双臂运动规划流程，通过主从参数化持续满足该硬约束：将主端执行器配置作为自由变量，从端通过逆运动学求解以满足约束。我们在多种环境、约束和双臂平台下进行大量仿真评估，相比先前方法提速19.4倍，同时保证约束连续满足。在双臂Kinova Gen3系统上开展真实世界实验，涵盖托盘运输与长条物体操作，验证了规划轨迹可直接迁移到物理硬件。
原文摘要 · Abstract (English)
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.
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