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arXiv · 2605.22021

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

Kenzhi Iskandar Wong·Lin Yang·Qian Ying Lee·Domenico Campolo
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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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Kenzhi Iskandar Wong, Lin Yang, Qian Ying Lee, Domenico Campolo. 2026-05-21. Industrial Dual-Arm Box Handling via Online Inertial Estimation and Convex Wrench Optimization. https://arxiv.org/abs/2605.22021

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