Scholarlink

<p>This paper presents adaptive locomotion and manipulation (ALaM), a novel approach for quadruped robots that enables robots to pedipulate with any leg as a manipulator while maintaining balance and locomotion with the remaining three legs. Unlike previous methods that only utilize a designated leg as a manipulator, ALaM enables any leg as manipulator based on the task goal position. To this end, we propose a gravitational moment minimization reward for training pedipulation using the centroid of feet as a pivot point. Experimental results demonstrate that ALaM achieves better stability during manipulation, reduces tracking error by approximately 50% compared to state-of-the-art methods, and completes multi-goal tasks more efficiently by dynamically switching manipulation legs.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Robust Pedipulation on Quadruped Robots via Gravitational-moment Minimization

  • 期刊论文

  • 发表日期：

    2025年12月5日

查看全文
  • Heechan Shin,
  • Minsung Yoon,
  • Jeil Jeong,
  • Sung-eui Yoon

摘要

This paper presents adaptive locomotion and manipulation (ALaM), a novel approach for quadruped robots that enables robots to pedipulate with any leg as a manipulator while maintaining balance and locomotion with the remaining three legs. Unlike previous methods that only utilize a designated leg as a manipulator, ALaM enables any leg as manipulator based on the task goal position. To this end, we propose a gravitational moment minimization reward for training pedipulation using the centroid of feet as a pivot point. Experimental results demonstrate that ALaM achieves better stability during manipulation, reduces tracking error by approximately 50% compared to state-of-the-art methods, and completes multi-goal tasks more efficiently by dynamically switching manipulation legs.