twoarm

Twoarm is a term used in robotics and related fields to describe a dual-arm robotic system or the concept of manipulating with two coordinated arms. In practice, twoarm denotes both the hardware configuration and the control problem involved in coordinating two manipulators to perform tasks that typically require two hands.

The mechanical arrangement for a twoarm system can vary. Arms may be mounted on a common base or on separate bases, and each arm typically includes a series of joints, actuators, and sensors. End effectors can be grippers, suction cups, or tools, and the two arms may operate with either independent or coupled control. Kinematic models, calibration, and synchronized trajectory generation are central to enabling coordinated action and safe interaction with objects and the environment.

Typical applications of twoarm systems include manufacturing and assembly, where two arms can manipulate and mate components; logistics and warehousing for cooperative picking and placement; laboratory automation for handling, mixing, or assembling samples; and research in humanoid robotics and rehabilitation robotics. In more advanced contexts, twoarm configurations enable tasks such as bimanual manipulation, in-hand object reorientation, and coordinated tool use.

Key challenges in twoarm robotics involve precise coordination and synchronization between the arms, collision avoidance, and robust perception to determine object poses and grasps. Planning methods often must account for contact dynamics, tool paths, and safety constraints in human-robot shared environments. Ongoing research seeks more flexible coordination, improved manipulability, and seamless integration with perception and learning-based control.

In literature and practice, twoarm or dual-arm manipulation is used interchangeably with bimanual manipulation to describe cooperative object handling by two robotic arms.