AthenaZero: A low-inertia, bimanual robot for dynamic manipulation

2026-09-15

AI Summary

AthenaZero通过使用准直驱和远程传动技术减少惯性，实现动态操控，如投掷、接球和击打任务。

Abstract

AthenaZero is a bimanual manipulator designed to minimize inertia without compromising control authority. By utilizing quasi-direct drive actuation and transmission remotization techniques, the system achieves an effective endpoint mass comparable to that of a human---about an order of magnitude less than conventional robot manipulators. This characteristic, combined with its inherent torque transparency, makes AthenaZero exceptionally well-suited for dynamic manipulation. We describe the methodology} that led to this design and demonstrate the robot's capabilities on three baseball-inspired tasks: throwing, catching, and batting, which showcase complex interactions on human-comparable timescales where milliseconds matter. AthenaZero was capable of throwing at speeds in excess of 30 m/s, with catching and batting at speeds in excess of 14 m/s over a short 7.3 m distance. Batting practice and a game of catch were subsequently performed in robot-to-robot and human-to-robot variations, showcasing the efficacy and adaptability of our system in tasks that require high acceleration.

Problem

• low-inertia
• bimanual robot
• dynamic manipulation
• quasi-direct drive actuation
• transmission remotization

Innovation

• quasi-direct drive actuation
• transmission remotization
• low-inertia