SOURCE-LINKED INTELLIGENCE

Visible-Reachable Workspace for Perception-Aware Humanoid Design

arXiv · AI, language, vision and robotics · article · Sep 8, 2026 · UTC

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 extend

Read original source ↗ Open in workspace

recordType

paper

region

Global