Author

Luka Petrović

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Preprint Aug 2026

Fast Coordinated Bimanual Motion Planning With Hard Constraints

This work proposes a fast bimanual motion planning pipeline that enforces this hard transformation constraint continuously along the entire path, using a leader-follower parameterization: the leader's configuration is treated as a free variable, while the follower's is determined via inverse kinematics to satisfy the constraint.

Borna Paro, Luka Petrović, Ivan Markovic · 0 citations