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arXiv · 2605.28462

Learning a Kinodynamic Trajectory Manifold for Impact-Aware Compliant Catching of Fast-Moving Objects

Guorui Pei·Mengshi Zhang·Xi Chen·Jinsong Wu·Jiaming Qi·Peng Zhou
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Abstract

Fast catching of free-flying objects is difficult because of short reaction time, impact uncertainty, and kinodynamic constraints. We use reinforcement learning in simulation to collect successful catching trajectories and learn a low-dimensional kinodynamic trajectory manifold. At run time, the estimated object initial state is mapped directly to a reference catching trajectory without online nonlinear optimization. The trajectory is tracked with compliant control near contact for improved impact absorption and capture stability.

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Guorui Pei, Mengshi Zhang, Xi Chen, Jinsong Wu, Jiaming Qi, Peng Zhou. 2026-05-27. Learning a Kinodynamic Trajectory Manifold for Impact-Aware Compliant Catching of Fast-Moving Objects. https://arxiv.org/abs/2605.28462

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