A dual-arm robot framework performs online inertial estimation from contact wrenches and uses SOCP under ellipsoidal friction constraints to lift boxes with unknown properties while maintaining stable contact.
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Industrial Dual-Arm Box Handling via Online Inertial Estimation and Convex Wrench Optimization
A dual-arm robot framework performs online inertial estimation from contact wrenches and uses SOCP under ellipsoidal friction constraints to lift boxes with unknown properties while maintaining stable contact.