Industrial Dual-Arm Box Handling via Online Inertial Estimation and Convex Wrench Optimization

• URL: http://arxiv.org/abs/2605.22021v1
• Date: Thu, 21 May 2026 05:40:59 GMT
• Title: Industrial Dual-Arm Box Handling via Online Inertial Estimation and Convex Wrench Optimization
• Abstract summary: Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance.<n>This paper presents a friction-aware dual-arm box-handling framework for objects with unknown inertial properties.
• Score: 5.026843146697991
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of contact wrenches can lead to slip, object drop, orientation deviation, or excessive squeezing. This paper presents a friction-aware dual-arm box-handling framework for objects with unknown inertial properties. The proposed approach estimates the object mass and center of mass online from measured contact wrenches, and computes friction-feasible contact forces and torsional moments through a second-order cone program (SOCP) under ellipsoidal friction-limit-surface constraints. An offline trajectory refinement stage is also included to reduce undesired object--environment contact when geometric constraints are present. By enforcing friction feasibility as a hard constraint and minimizing contact effort within the feasible region, the framework achieves stable lifting without treating slip avoidance and excessive squeezing as separately tuned objectives. Experiments on a real dual-arm robotic system under different center-of-mass configurations demonstrate that the method lifts objects with unknown inertial properties while maintaining stable frictional contact.

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