Dual-Arm Manipulation

1D2L: One-Arm Drag and Two-Arm Lift for Manipulating Large and Heavy Tabletop Objects
1D2L first drags an initially unreachable tabletop object into a pre-computed liftable zone with one arm, then performs a cooperative two-arm lift, enabling dual-arm handling of large or heavy objects without extra repositioning hardware.
Cite DOI IEEE Xplore