Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learn- ing to achieve compliant catching on mobile manipulators (CCMM). First, we propose a high-level capture planner for mobile manipulators (MM) that calculates the optimal capture point and joint configuration. Next, the pre-catching (PRC) planner ensures the robot reaches the target joint configuration as quickly as possible. To learn compliant catching strategies, we introduce a network that leverages the strengths of LSTM for capturing temporal dependencies and positional encoding for spatial context (P-LSTM). This network is designed to effec- tively learn compliant strategies from human demonstrations. Following this, the post-catching (POC) planner tracks the compliant sequence output by the P-LSTM while avoiding po- tential collisions due to structural differences between humans and robots. We validate the CCMM framework through both simulated and real-world ball-catching scenarios, achieving a success rate of 98.70% in simulation, 92.59% in real-world tests, and a 28.7% reduction in impact torques. The open source code will be released for the reference of the community.
@article{chen2025cushion,
title = {CushionCatch: A Compliant Catching Mechanism for Mobile Manipulators via Combined Optimization and Learning},
author = {YBingjie Chen, Keyu Fan, Qi Yang, Yi Cheng, Houde Liu, Kangkang Dong, Chongkun Xia, Liang Han, Bin Liang},
journal = {arXiv preprint arXiv: Arxiv-2409.14754},
year = {2025},
}