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This is accentuated when the object mass to robot payload ratio increases, given the strong inertial components characterizing this task. This paper aims to address this problem by proposing an implicitly impact-aware framework that accomplishes the catching task in both pre- and post-catching phases. In the first phase, a motion planner generates optimal trajectories that minimize catching forces, while in the second, the object\u2019s energy is dissipated smoothly, minimizing bouncing. In particular, in the pre-catching phase, a real-time optimal planner is responsible for generating trajectories of the end-effector that minimize the velocity difference between the robot and the object to reduce impact forces during catching. In the post-catching phase, the robot\u2019s position, velocity, and stiffness trajectories are generated based on human demonstrations when catching a series of free-falling objects with unknown masses. A hierarchical quadratic programming-based controller is used to enforce the robot\u2019s constraints (i.e., joint and torque limits) and create a stack of tasks that minimizes the reflected mass at the end-effector as a secondary objective. The initial experiments isolate the problem along one dimension to accurately study the effects of each contribution on the metrics proposed. We show how the same task, without velocity matching, would be infeasible due to excessive joint torques resulting from the impact. The addition of reflected mass minimization is then investigated, and the catching height is increased to evaluate the method\u2019s robustness. Finally, the setup is extended to catching along multiple Cartesian axes, to prove its generalization in space.<\/jats:p>","DOI":"10.1177\/02783649251345851","type":"journal-article","created":{"date-parts":[[2025,6,20]],"date-time":"2025-06-20T04:04:07Z","timestamp":1750392247000},"page":"100-127","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["IMA-catcher: An IMpact-aware nonprehensile catching framework based on combined optimization and learning"],"prefix":"10.1177","volume":"45","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2413-3962","authenticated-orcid":false,"given":"Francesco","family":"Tassi","sequence":"first","affiliation":[{"name":"Istituto Italiano di Tecnologia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0860-4768","authenticated-orcid":false,"given":"Jianzhuang","family":"Zhao","sequence":"additional","affiliation":[{"name":"Istituto Italiano di Tecnologia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0403-991X","authenticated-orcid":false,"given":"Gustavo JG","family":"Lahr","sequence":"additional","affiliation":[{"name":"Istituto Italiano di Tecnologia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luna","family":"Gava","sequence":"additional","affiliation":[{"name":"Istituto Italiano di Tecnologia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Monforte","sequence":"additional","affiliation":[{"name":"Istituto Italiano di Tecnologia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4499-4070","authenticated-orcid":false,"given":"Arren","family":"Glover","sequence":"additional","affiliation":[{"name":"Istituto Italiano di Tecnologia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chiara","family":"Bartolozzi","sequence":"additional","affiliation":[{"name":"Istituto Italiano di Tecnologia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arash","family":"Ajoudani","sequence":"additional","affiliation":[{"name":"Istituto Italiano di Tecnologia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2025,6,20]]},"reference":[{"key":"e_1_3_4_2_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.590681"},{"key":"e_1_3_4_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2018.07.008"},{"key":"e_1_3_4_4_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912464668"},{"key":"e_1_3_4_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/37.16766"},{"key":"e_1_3_4_6_1","doi-asserted-by":"publisher","unstructured":"B\u00e4tz G Yaqub A Wu H et al. 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