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[Submitted on 15 Sep 2026] Title:AthenaZero: A low-inertia, bimanual robot for dynamic manipulation View a PDF of the paper titled AthenaZero: A low-inertia, bimanual robot for dynamic manipulation, by Andrew S. Morgan and 25 other authors View PDF HTML (experimental) Abstract: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 tasks: throwing, catching, and batting, which showcase complex interactions on human-comparable timescales where milliseconds matter. AthenaZero was capable of throwing at speeds in excess of 30 m/s, with catching and batting at speeds in excess of 14 m/s over a short 7.3 m distance. Batting practice and a game of catch were subsequently performed in robot-to-robot and human-to-robot variations, showcasing the efficacy and adaptability of our system in tasks that require high acceleration. Comments: Videos attached as ancillary. Cover article to September 2026 issue of Science Robotics Subjects: Robotics (cs.RO) Cite as: arXiv:2609.19194 [cs.RO] (or arXiv:2609.19194v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.19194 arXiv-issued DOI via DataCite Submission history From: Andrew Morgan [view email] [v1] Tue, 15 Sep 2026 21:42:28 UTC (104,183 KB) Full-text links: Access Paper: View a PDF of the paper titled AthenaZero: A low-inertia, bimanual robot for dynamic manipulation, by Andrew S. Morgan and 25 other authors View PDF HTML (experimental) TeX Source view license Ancillary-file links: Ancillary files (details): M1.mp4 S1.mp4 S2.mp4 S3.mp4 S4.mp4 S5.mp4 Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)