# AthenaZero: A low-inertia, bimanual robot for dynamic manipulation

arXiv: https://arxiv.org/abs/2609.19194 · HTML: https://mlsanity.com/paper/2609.19194/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Sep 2026.

## Built on by (most cited first, 1 of 1)

- [Co-design Gym: A Unified Benchmark for Embodiment-Policy Co-optimization](https://mlsanity.com/paper/2610.02366/) (2026)

## Abstract (arXiv)

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.