Task Capability Improvement Algorithm for Collaborative Manipulators

Keshab Patra; Arpita Sinha; Anirban Guha

Task Capability Improvement Algorithm for Collaborative Manipulators

Robotics 2026-05-19 v1 Multiagent Systems

Authors: Keshab Patra , Arpita Sinha , Anirban Guha

Abstract

This work introduces a cooperative task capability improvement utilizing additional moments. The manipulators apply forces at the object's grasp point. Applying forces at a point other than the object's center of gravity produces undesired moments. The undesired moment acts as an additional moment. It improves the capability of an individual manipulator and, hence, the entire collaborative group. Any improvements in task capability directly add up to the object and transportation capability. The group's enhanced capability also helps achieve optimal capability, optimal resource allocation, and maximum fault tolerance in object manipulation. Our simulation results show an improvement in the capability of 5.86 \% compared to when no moment is used to enhance the capability of the manipulators.

Keywords

robotic manipulation robot kinematics multi-agent reinforcement learning

Cite

@article{arxiv.2605.17293,
  title  = {Task Capability Improvement Algorithm for Collaborative Manipulators},
  author = {Keshab Patra and Arpita Sinha and Anirban Guha},
  journal= {arXiv preprint arXiv:2605.17293},
  year   = {2026}
}

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