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Visible-Reachable Workspace for Perception-Aware Humanoid Design — arXiv:2609.08905

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.08905
License (as archived): CC0-1.0
Archived: 2026-10-16T15:31:27.464Z
SHA-256 of the archived text: 03deea56b0ca12b540041e4b03520ee54368c86202f45a298d2b88fb6980cb69
Stable URL of this page: https://metraipolis.com/documento/dc_e7c7fedbcecf

How to cite

Visible-Reachable Workspace for Perception-Aware Humanoid Design — arXiv:2609.08905 — arXiv (en), https://arxiv.org/abs/2609.08905 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_e7c7fedbcecf (Metraipolis archive dc_e7c7fedbcecf, sha256 03deea56b0ca12b540041e4b03520ee54368c86202f45a298d2b88fb6980cb69)

BibTeX

@misc{dce7c7fedbcecf,
  title = {Visible-Reachable Workspace for Perception-Aware Humanoid Design — arXiv:2609.08905},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.08905},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_e7c7fedbcecf; sha256 03deea56b0ca12b540041e4b03520ee54368c86202f45a298d2b88fb6980cb69},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.08905. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Workspace analysis measures where a robot can place its end effector. For visually guided manipulation, reachability alone is insufficient: a kinematically reachable target may not be visible in the specific pose required to reach it. The robot must then redirect its sensing or move its body to acquire a view, turning a perception limitation into additional motion. Existing humanoids largely inherit this limitation when copying human form factors. We introduce the visible-reachable workspace (VRW), a design-stage measure that conditions visibility on feasible reaching configurations and extends it to concurrent visibility of spatially separated work regions. We apply VRW by building a 31-DoF humanoid with independently actuated RGB-D cameras. On the same robot, camera articulation increases visible-reachable coverage from 38% to 97%. With actuated camera layouts, a second camera raises pairwise coverage from 0.45 to 0.95, while a third changes it only to 0.97. In a controlled two-target reach-and-grasp benchmark, our dual-actuated design reduces mean completion time by 17% and mechanical energy by 19% relative to the same robot with its cameras fixed. Hardware experiments demonstrate simultaneous observation and manipulation of front/back and left/right target pairs without torso reorientation. The results suggest that reachability becomes a more informative design quantity for perception-driven humanoid manipulation when it is evaluated together with the sensing configurations that make the reachable space observable. We will open-source all software and the humanoid hardware design. Our website is this https URL

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-09 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.08905 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-16T15:11:47.655Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-09?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).