Visual Whole-Body Control for Legged Loco-Manipulation

arXiv:2403.16967v1 Announce Type: cross
Abstract: We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an opportunity to amplify the manipulation capabilities by conducting whole-body control. That is, the robot can control the legs and the arm at the same time to extend its workspace. We propose a framework that can conduct the whole-body control autonomously with visual observations. Our approach, namely \ourFull~(\our), is …

arxiv control cs.cv cs.lg cs.ro manipulation type visual