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AthenaZero: A low-inertia, bimanual robot for dynamic manipulation
AthenaZero is a bimanual manipulator designed to minimize inertia without compromising control authority. By utilizing quasi-direct drive actuation and transmission remotization techniques, the system achieves an effective endpoint mass comparable to that of a human---about an order of magnitude less than conventional robot manipulators. This characteristic, combined with its inherent torque transparency, makes AthenaZero exceptionally well-suited for dynamic manipulation. We describe the methodology} that led to this design and demonstrate the robot's capabilities on three baseball-inspired t
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-15T21:42:28.000Z
First collected: 2026-09-20T08:20:57.646Z. This is not the publication date.