arxivcs.ROcs.HCeess.SY2026-07-16
Catch, Throw, Repeat: Planning for Human-Robot Partner Juggling
Jonathan Rainer Lippert, Kai Ploeger, Abir Chowdhury, Hermann Müller, Jan Peters, Alap Kshirsagar
Dynamic object exchange between humans and robots remains a challenging problem due to uncertainty in perception, timing, and contact-rich interaction. Human-robot juggling represents a particularly demanding instance of this problem, requiring precise real-time coordination, pre…